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ROBO CylinderRCP6/RCP6S/RCP6CR/RCP6SCR Actuator
Slider Type Instruction Manual
Second edition
Motor Straight Type: Side-Mounted Motor Type: Cleanroom Type: Motor Straight Type:
Thank you for purchasing our product. This instruction manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The DVD that comes with the product contains instruction manuals for IAI products. When using the product, refer to the necessary portions of the applicable instruction manual by printing them out or displaying them on a PC. After reading the instruction manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.
[Important] • This instruction manual is original. • This product is not to be used for any other purpose from what is noted in this instruction manual.
IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.
• The information contained in this instruction manual is subject to change without notice for the purpose of production improvement.
• If you have any question or finding regarding the information contained in this instruction manual, contact our customer center or our sales office near you.
• Using or copying all or a part of this instruction manual without permission is prohibited. • The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
CAUTION
BE SURE TO CHECK SCREW LENGTH.
DAMAGE CAN OCCUR IF TOO LONG OF
SCREWS ARE USED!
Model Actuator Base
Thread Depth
SA4 6mm or less
SA6 10mm or less
SA7 10mm or less
SA8 12mm or less
Table of Contents Safety Guide·························································································· 1 Caution in Handling················································································· 9 International Standards Compliances ·························································10 Names of the Parts ················································································11 1. Specifications Check .......................................................................................18
1.1 Checking the Product ........................................................................................18 1.1.1 Parts .....................................................................................................................18 1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product 18 1.1.3 How to Read the Model Nameplate......................................................................18 1.1.4 How to Read the Model Number ..........................................................................19
1.2 Specifications ....................................................................................................21 1.2.1 Speed....................................................................................................................21 1.2.2 Maximum Speed and Payload of the Single Slider ..............................................25 1.2.3 Maximum Speed and Payload of the Double Slider Specification (Option) .........53 1.2.4 Driving System • Position Detector.......................................................................68 1.2.5 Positioning Precision ............................................................................................69 1.2.6 Current Limit Value and Pressing Force...............................................................70 1.2.7 Allowable Moment of Actuator ..............................................................................74 1.2.8 Duty ratio for continuous operation.......................................................................76
1.3 Options..............................................................................................................77 1.3.1 Brake Type (Model : B) .........................................................................................77 1.3.2 Reversed-home Specification (Model : NM).........................................................77 1.3.3 High Precision Specifications (Model: HPR) ........................................................77 1.3.4 Motor Left Side-Mounted, Motor Right Side-Mounted (Model: ML, MR)..............77 1.3.5 Cable Exit Direction Changed (Model: CJT, CJR, CJL, CJB, CJO) .....................78 1.3.6 Slider spacer (Model: SS).....................................................................................78 1.3.7 Slider Roller Specification(Model: SR).............................................................78 1.3.8 Double Slider Specification(Model: W) ............................................................78 1.3.9 Air Vacuum Joint on the Opposite Side (Model: VR)............................................78
1.4 Motor • Encoder Cables ....................................................................................79 1.4.1 Motor • Encoder Integrated Cables (SA4, SA6 and SA7) ....................................79 1.4.2 Motor • Encoder Integrated Cables Robot Type (SA4, SA6 and SA7).................80 1.4.3 Motor • Encoder Integrated Cables (SA8) ............................................................81 1.4.4 Motor • Encoder Integrated Cables Robot Type (SA8).........................................82
2. Installation .......................................................................................................84 2.1 Transportation ...................................................................................................84 2.2 Installation and Storage • Preservation Environment ........................................86 2.3 How to Install.....................................................................................................87
2.3.1 Installation.............................................................................................................87 2.3.2 Installation of the Main Unit ..................................................................................88 2.3.3 About Suction of the CleanroomType...................................................................99
3. Connecting with the Controller ......................................................................100
4. Maintenance and Inspection .........................................................................104
4.6.1 Standard Type Grease to Use ............................................................................107 4.6.2 How to Apply Grease..........................................................................................108
4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment................ 111 4.7.1 Preparation ......................................................................................................... 111 4.7.2 Procedure for Replacement and Tuning............................................................. 112
4.8 Procedure for Belt Replacement and Tuning .................................................. 117 4.8.1 Inspection of the Belt .......................................................................................... 117 4.8.2 Belt to Use .......................................................................................................... 117 4.8.3 Belt Replacement ............................................................................................... 118
5. External Dimensions .....................................................................................134 5.1 Standard Specification RCP6-SA4C................................................................134 5.2 Built-in Controller Specification RCP6S-SA4C................................................135 5.3 Standard Specification RCP6-SA6C................................................................136 5.4 Built-in Controller Specification RCP6S-SA6C................................................137 5.5 Standard Specification RCP6-SA7C................................................................138 5.6 Built-in Controller Specification RCP6S-SA7C................................................139 5.7 Standard Specification RCP6-SA8C................................................................140 5.8 Built-in Controller Specification RCP6S-SA8C................................................141 5.9 Standard Specification RCP6-SA4R Left Side-Mounted (Model: ML) .............142 5.10 Built-in Controller Specification RCP6S-SA4R Left Side-Mounted (Model:
ML) ..................................................................................................................143 5.11 Standard Specification RCP6-SA6R Left Side-Mounted (Model: ML) .............144 5.12 Built-in Controller Specification RCP6S-SA6R Left Side-Mounted (Model:
ML) ..................................................................................................................145 5.13 Standard Specification RCP6-SA7R Left Side-Mounted (Model: ML) .............146 5.14 Built-in Controller Specification RCP6S-SA7R Left Side-Mounted (Model:
ML) ..................................................................................................................147 5.15 Standard Specification RCP6-SA8R Left Side-Mounted (Model: ML) .............149 5.16 Built-in Controller Specification RCP6S-SA8R Left Side-Mounted (Model:
ML) ..................................................................................................................150 5.17 Cleanroom Type Standard Specification RCP6CR-SA4C ...............................152 5.18 Cleanroom Type Built-in Controller Specification RCP6SCR-SA4C ...............153 5.19 Cleanroom Type Standard Specification RCP6CR-SA6C ...............................154 5.20 Cleanroom Type Built-in Controller RCP6SCR-SA6C.....................................155 5.21 Cleanroom Standard Specification RCP6CR-SA7C........................................156
5.22 Cleanroom Type Built-in Controller Specification RCP6SCR-SA7C ...............157 5.23 Cleanroom Type Standard Specification RCP6CR-SA8C ...............................158 5.24 Cleanroom Type Built-in Controller Specification RCP6SCR-SA8C ...............159 5.25 Standard Specification Double Slider Specification RCP6-SA4C (Option
Model W).........................................................................................................160 5.26 Standard Specification Double Slider Specification RCP6-SA6C (Option
Model W).........................................................................................................161 5.27 Standard Specification Double Slider Specification RCP6-SA7C (Option
Model W).........................................................................................................162 5.28 Standard Specification Double Slider Specification RCP6-SA8C (Option
Model W).........................................................................................................163 5.29 Cleanroom Type Standard Specification Double Slider
SpecificationRCP6CR-SA4C (Option Model W)..............................................164 5.30 Cleanroom Type Standard Specification Double Slider Specification
RCP6CR-SA6C (Option Model W)..................................................................165 5.31 Cleanroom Type Standard Specification Double Slider Specification
RCP6CR-SA7C (Option Model W)..................................................................166 5.32 Cleanroom Type Standard Specification Double Slider Specification
RCP6CR-SA8C (Option Model W)..................................................................167 6. Life ................................................................................................................168
6.1 How to Calculate Operation Life......................................................................168 6.2 Operation Life..................................................................................................169
7. Warranty........................................................................................................170 7.1 Warranty Period ..............................................................................................170 7.2 Scope of the Warranty.....................................................................................170 7.3 Honoring the Warranty ....................................................................................170 7.4 Limited Liability................................................................................................171 7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications.....................................................................................................171 7.6 Other Items Excluded from Warranty ..............................................................171
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation.
No. Operation Description Description
1 Model Selection
This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect
human life or physical health. 2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility) 3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product.
Do not use it in any of the following environments. 1) Location where there is any inflammable gas, inflammable object or
explosive 2) Place with potential exposure to radiation 3) Location with the ambient temperature or relative humidity exceeding
the specification range 4) Location where radiant heat is added from direct sunlight or other
large heat source 5) Location where condensation occurs due to abrupt temperature
changes 6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid) 7) Location exposed to significant amount of dust, salt or iron powder 8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.
2
No. Operation Description Description
2 Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped.
Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have
eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the instruction manual for each model.
Do not step or sit on the package. Do not put any heavy thing that can deform the package, on it. When using a crane capable of 1t or more of weight, have an
operator who has qualifications for crane operation and sling work. When using a crane or equivalent equipments, make sure not to
hang a load that weighs more than the equipment's capability limit. Use a hook that is suitable for the load. Consider the safety factor of
the hook in such factors as shear strength. Do not get on the load that is hung on a crane. Do not leave a load hung up with a crane. Do not stand under the load that is hung up with a crane.
3 Storage and Preservation
The storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation.
Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake.
3
No. Operation Description Description
(1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
When using the product in any of the places specified below, provide a sufficient shield.
1) Location where electric noise is generated 2) Location where high electrical or magnetic field is present 3) Location with the mains or power lines passing nearby 4) Location where the product may come in contact with water, oil or
chemical droplets (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.
Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.
4 Installation and Start
(3) Grounding The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or below).
4
No. Operation Description Description
4 Installation and Start
(4) Safety Measures When the work is carried out with 2 or more persons, make it clear
who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot's movable range. When the robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.
Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.
When the installation or adjustment operation is to be performed, give clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.
Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
5
No. Operation Description Description
5 Teaching When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see. When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.
6 Trial Operation
When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction.
6
No. Operation Description Description
7 Automatic Operation
Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication.
Make sure to operate automatic operation start from outside of the safety protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.
When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.
8 Maintenance and Inspection
When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence, basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see. For the grease for the guide or ball screw, use appropriate grease
according to the instruction manual for each model. Do not perform the dielectric strength test. Failure to do so may
result in a damage to the product. When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated.
7
No. Operation Description Description
9 Modification and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of components when detaching screws.
Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether complies if necessary.
For the handling of actuators and controllers, follow the dedicated instruction manual of each unit to ensure the safety.
8
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model.
Level Degree of Danger and Damage Symbol
Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury. Warning
Caution This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to use this product properly. Notice
9
Caution in Handling 1. Do not attempt to establish the settings for the speed and
acceleration/deceleration above the allowable range. An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life.
2. Set the allowable load moment within the allowable range. An operation with the load beyond the allowable load moment may cause an abnormal noise, vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide, ball screw.
3. Set the overhang within the allowable range. Attaching a load with an overhang above the allowable range may cause vibration and abnormal noise.
4. If back and forth operations are performed repeatedly in short distance, it may wear out the film of grease. Continuous back and forth operation within a distance less than 30mm may cause wear of grease. As a reference, have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5,000 to 10,000 cycles to regenerate the oil film. Keep using the actuator with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide, ball screw.
5. Do not attempt to hit the slider against an abstacle with high speed. It may destroy the coupling.
6. Make sure to attach the actuator properly by following this instruction manual. Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.
7. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product.
10
8. For PCON-CB and MCON Controllers (with option: T), it is available to switch over the setting between effective and ineffective of the high-output setting in the parameter setting. (In the setting at delivery, the high-output setting is set to effective.) For MSEL Controller, the high-output setting is effective and cannot switch it over to ineffective. [Refer to an instruction manual for each controller for details]
The performance of weight capacity at each velocity and acceleration/deceleration setting differs between the high-output setting being effective and ineffective. Refer to the applicable performance specification when the high-output setting is effective or ineffective in 1.2 Specifications.
Option T: In high-output setting, available to have high-output setting effective.
International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
11
Names of the Parts In this Instruction manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below. 1. Motor Straight Type 1.1 Standard Specification RCP6-SA4C
Except for the joints, all sizes are the same as the standard sizes. –
Opposite Side
Motor Side
Right Side
Left Side
Stainless Steel Sheet Slider Cover
Slider
Sheet Retainer
Motor Bracket
Motor Cover End Cover
Screw for Motor Unit Attachment
Sheet Retainer
Front Bracket
Base
Side Cover
Rear Bracket
Tapped Hole for Ground Cable Connection
Power · I/O Cable Connector
Teaching Port
Status LED
Outer Diameter of Air Tube SA4C/SA6C…Ø6 SA7C/SA8C…Ø8
Air Vacuum Joint
Stainless Steel Sheet
Opposite Side
Sheet Retaine
Base Front Bracket
Outer Diameter of Air Tube SA4C/SA6C…Ø6 SA7C/SA8C…Ø8
Air Vacuum Joint Tapped Hole for Ground Cable Connection
Motor Side
Right Side
Left Side
Side Cover Connector
Slider Cover
Motor Bracket
Motor Cover End Cover
Slider
Rear Bracket
Screw for Motor Unit Attachment
Sheet Retainer
18
1. Specifications C
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1. Specifications Check
1.1 Checking the Product The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor.
1.1.1 Parts
No. Name Model number Quantity Remarks
1 Actuator Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”
1
Accessories 2 Motor • Encoder Cables (Note1)
1 3 In-house Made Seals 1 4 First Step Guide 1 5 Instruction Manual (DVD) 1 6 Safety Guide 1
Note 1 The motor • encoder cables supplied vary depending on the controller used. [Refer to 1.4, “Motor • Encoder Cables.”]
1.1.2 Related Instruction Manuals for the Each Controller Supported by This
Product Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in Instruction Manual (DVD).
No. Name Control No.
1 Instruction Manual for PCON-CB/CFB Controller ME0342
2 Instruction Manual for MCON-C/CG Controller ME0341 3 Instruction Manual for MSEL Controller ME0336
4 Instruction Manual for RC PC Software RCM-101-MW/RCM-101-USB ME0155
5 Instruction Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA ME0295
6 Instruction Manual for Touch Panel Teaching Pendant TB-01/01D/01DR Applicable for Position Controller
ME0324
1.1.3 How to Read the Model Nameplate
MODEL RCP6-SA4C-WA-35P-2.5-50-P3-P-B SERIAL No.A00090267 MADE IN JAPAN
Model Serial number
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1. Specifications C
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1.1.4 How to Read the Model Number
RCP6 -SA4C -WA- 35P- 2.5- 50- P3- P- B- **
Note 1 Identification for IAI use only: It may be displayed for IAI use. It is
not a code to show the model type.
<Series name> Standard Specification RCP6 Built-in Controller Specification RCP6S Cleanroom type Standard Specification RCP6CR Cleanroom type Built-in Controller Specification RCP6SCR <Type> Motor straight type
SA4C SA6C SA7C SA8C
Side-mounted motor type SA4R SA6R SA7R SA8R
<Encoder type> WA : Battery-less absolute
<Motor type>
35P: 35 size 42P: 42size 56P: 56size 56SP: 56size
<Options> B : Brake NM : Reversed-home
specification HPR : High precision
specification ML : Motor left side-mounted MR : Motor right side-mounted CJT : Cable exit direction
changed (Top) CJR : Cable exit direction
changed (Right) CJL : Cable exit direction
changed (Left) CJB : Cable exit direction
changed (Bottom) CJO : Cable exit direction
changed (Outward) SS : Slider spacer SR : Slider roller specification W : Double slider specificationVR : Vacuum joint
Installation locations on the opposite side
<Cable length> N : None P : 1m S : 3m M : 5m X : Length specificationR : Robot cable
* The high precision specification HPR cannot be selected with the double slider specification W. * The slider spacer SS cannot be selected with the double slider specification W of the side-mounted
specification. * The slider roller specification SR is an option of the standard specification RCP6 and the built-in
controller specification RCP6S.
* The leads described in the following table cannot be selected with the double slider specification W. Also, the vertical setting of the leads described in the following table cannot be used.
Series Type Double Slider Lead With No
Settings
Double Slider Not Available
SA4C(S) 16 Vertical setting of lead 10 SA6C(S) 20 Vertical setting of lead 12 SA7C(S) 24 Vertical setting of lead 16 RCP6(S)
SA8C(S) 30 Vertical setting of lead 20 SA4C 16 Vertical setting of lead 10 SA6C 20 Vertical setting of lead 12 SA7C 24 Vertical setting of lead 16 RCP6(S)CR
SA8C 30 Vertical setting of lead 20
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1. Specifications C
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1.2 Specifications 1.2.1 Speed (Note) In the case of the double slider specification, as the speed increases the payload
decreases significantly more than it does in a single slider. Consequently, as the payload of the maximum speeds in the table decrease, the payload may not be appropriate for use. [Refer to 1.2.3 Maximum Speeds and Payload of the Double Slider Specification (Option)]
[When high-output setting for motor straight type is effective]
Caution: When a speed less than the minimum speed, operation will not made in the set speed. Do not attempt to set a speed less than the minimum speed. Figure out the minimum speed using the following formula. Min. Speed [mm/s] = Lead Length [mm] /800/ 0.001 [sec]
23
1. Specifications C
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[When high-output setting for motor straight type is ineffective] (Note) High-output settings are not available in SA8C or SA8R that operate with the PCON-CFB
[When high-output setting for side-mounted motor type is ineffective] (Note) High-output settings are not available in SA8C or SA8R that operate with the PCON-CFB
Caution: When a speed less than the minimum speed, operation will not be made in the set speed. Do not attempt to set a speed less than the minimum speed. Figure out the minimum speed using the following formula. Min. Speed [mm/s] = Lead Length [mm] / 800 / 0.001 [sec]
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1. Specifications C
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1.2.2 Maximum Speed and Payload of the Single Slider If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. (Note) The table shown below is for the single slider. In the case of the double slider specification
(option), the payload decreases more than the single slider (shown in the table below). [Refer to 1.2.3 Maximum Speed and Payload of the Double Slider Specification (Option)]
[When high-output setting for motor straight type is effective]
Payload by Acceleration/Deceleration [kg] Type Motor
Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.
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(Note) High-output settings are not available in SA8C or SA8R that operate with the PCON-CFB controller.
[When high-output setting for motor straight type is ineffective]
[When high-output setting for motor straight type is ineffective] Payload by
Acceleration/Deceleration [kg] Type Motor
Type Lead[mm]
Horizontal/ Vertical Velocity
[mm/s] 0.3G 0.7G
0 40 30 35 40 30 70 40 30 105 40 30
Horizontal
140 15 6 0 15 -
35 15 - 70 15 - 105 8 -
4
Vertical
140 2 - 0 40 25
70 40 25 140 40 25 210 25 14
Horizontal
280 10 1 0 10 -
70 10 - 140 7 - 210 4 -
SA7C 56P
8
Vertical
280 1.5 -
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[When high-output setting for motor straight type is ineffective] Payload by
Acceleration/Deceleration [kg] Type Motor
Type Lead[mm]
Horizontal/ Vertical Velocity
[mm/s] 0.3G 0.7G
0 35 20 140 35 20 280 25 12 420 15 6
Horizontal
560 7 0.5 0 5 -
140 5 - 280 3 - 420 1.5 -
16
Vertical
560 0.5 - 0 18 10
200 18 10 420 18 10 640 10 2
Horizontal
800 5 0.5 0 2 -
200 2 - 420 2 - 640 1 -
SA7C 56P
24
Vertical
800 0.5 -
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(Note) High-output settings are not available in SA8C or SA8R that operate with the PCON-CFB controller. [When high-output setting for side-mounted motor type is ineffective]
[When high-output setting for side-mounted motor type is ineffective] Payload by
Acceleration/Deceleration [kg] Type Motor
Type Lead[mm]
Horizontal/ Vertical Velocity
[mm/s] 0.3G 0.7G
0 40 30 35 40 30 70 40 30 105 40 30
Horizontal
140 15 6 0 15 -
35 15 - 70 15 - 105 8 -
4
Vertical
140 2 - 0 40 25
70 40 25 140 40 25 210 25 14
Horizontal
280 10 1 0 10 -
70 10 - 140 7 - 210 4 -
SA7R 56P
8
Vertical
280 1.5 -
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[When high-output setting for side-mounted motor type is ineffective] Payload by
Acceleration/Deceleration [kg] Type Motor
Type Lead[mm]
Horizontal/ Vertical Velocity
[mm/s] 0.3G 0.7G
0 35 20 140 35 20 280 25 12 420 15 6
Horizontal
560 7 0.5 0 5 -
140 5 - 280 3 - 420 1.5 -
16
Vertical
560 0.5 - 0 18 10
200 18 10 420 18 10 640 10 2
Horizontal
800 5 0.5 0 2 -
200 2 - 420 2 - 640 1 -
SA7R 56P
24
Vertical
800 0.5 -
Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.
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1.2.3 Maximum Speed and Payload of the Double Slider Specification (Option) In the case of the double slider specification (option), the payload will be lower than what is described in the table of 1.2.2. Maximum Speed and Payload of the Single Slider These are calculated with the following formulas. The results of the calculations are shown over the next few pages. [1] Other than SA8C and SA8R
[When the speed of compensation is equal to or less than the compensation speed of the transported mass (mm/s) described in the following table] Payload [kg] = single slider payload [kg] - compensation value A of the transported mass [kg]
[When the speed of compensation is more than the compensation speed of the transported mass (mm/s) described in the following table] Payload [kg] = single slider payload [kg] - compensation value B of the transported mass [kg]
[2] SA8C and SA8R
Payload [kg] = single slider payload [kg] - compensation value A of the transported mass [kg] (Note) Leads not described in the following table cannot be selected with the double slider
specification (option). Also, the vertical settings of leads displayed in the table cannot be used by the double slider.
Series Type Lead [mm]
Transported Mass
Compensation Speed [mm/s]
Transported Mass
Compensation Value A
[kg]
Transported Mass
Compensation Value B
[kg]
The Double Slider Cannot
be Used
2.5 105 5 215 SA4C(R) 10 350
0.6 2 Vertical setting of lead 10
3 140 6 280 SA6C(R) 12 320
1.2 2 Vertical setting of lead 12
4 70 8 140 SA7C(R) 16 280
1.7 5 Vertical setting of lead 16
5 - 10 -
RCP6(S)
SA8C(R) 20 -
7 - Vertical setting of lead 20
2.5 105 5 215 SA4C 10 350
0.6 2 Vertical setting of lead 10
3 140 6 280 SA6C 12 320
1.2 2 Vertical setting of lead 12
4 70 8 140 SA7C 16 280
1.7 5 Vertical setting of lead 16
5 - 10 -
RCP6(S)CR
SA8C 20 -
7 - Vertical setting of lead 20
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If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. [When high-output setting for motor straight type double slider specification is effective]
Payload by Acceleration/Deceleration [kg] Type Motor
Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.
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(Note) High-output settings are not available in SA8C or SA8R that operate with the PCON-CFB controller.
[When high-output setting for motor straight type double slider specification is ineffective]
[When high-output setting for side-mounted type double slider specification is ineffective] Payload by
Acceleration/Deceleration [kg] Type Motor
Type Lead[mm]
Horizontal/ Vertical Velocity
[mm/s] 0.3G 0.7G
0 38.3 28.335 38.3 28.370 38.3 28.3105 35 25
Horizontal
140 10 1 0 13.3 -
35 13.3 - 70 13.3 - 105 3 -
4
Vertical
140 - - 0 38.3 23.3
70 38.3 23.3140 38.3 23.3210 20 9
Horizontal
280 5 - 0 8.3 -
70 8.3 - 140 5.3 - 210 - -
8
Vertical
280 - - 0 33.3 18.3
140 33.3 18.3280 23.3 10.3420 10 1
SA7R 56P
16 Horizontal
560 2 -
Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.
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1.2.4 Driving System • Position Detector
Ball Screw Type Type Motor Type Lead
No. of Encoder Pulses Type Diameter Accuracy
2.5
5
10 SA4C SA4R 35P
16
Rolled φ8mm C10
3 6
12 SA6C SA6R 42P
20
Rolled φ10mm C10
4 8
16 SA7C SA7R 56P
24
Rolled φ12mm C10
5 10 20
SA8C SA8R 56SP
30
8192
Rolled φ16mm C10
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1.2.5 Positioning Precision Tolerance Type Lead Item
Standard High Precision Specification
Optional Model: HPR
Positioning repeatability ±0.01mm ±0.005mm 2.5, 5, 10 Lost motion 0.1mm or less 0.1mm or less
Positioning repeatability ±0.01mm - SA4C 16 Lost motion 0.1mm or less -
Positioning repeatability ±0.01mm - SA4R 2.5, 5, 10, 16 Lost motion 0.1mm or less -
Positioning repeatability ±0.01mm ±0.005mm 3, 6, 12 Lost motion 0.1mm or less 0.1mm or less
Positioning repeatability ±0.01mm - SA6C 20 Lost motion 0.1mm or less -
Positioning repeatability ±0.01mm - SA6R 3, 6, 12, 20 Lost motion 0.1mm or less -
Positioning repeatability ±0.01mm ±0.005mm 4, 8 Lost motion 0.1mm or less 0.1mm or less Positioning repeatability ±0.01mm - SA7C
16, 24 Lost motion 0.1mm or less - Positioning repeatability ±0.01mm - SA7R 4, 8,
16, 24 Lost motion 0.1mm or less - Positioning repeatability ±0.01mm ±0.005mm 5, 10 Lost motion 0.1mm or less 0.1mm or less Positioning repeatability ±0.01mm - SA8C
20, 30 Lost motion 0.1mm or less - Positioning repeatability ±0.01mm - SA8R 5, 10,
20, 30 Lost motion 0.1mm or less - This is an option already attached when it is shipped out from the factory. It does not include the consideration of time-dependent change as it is used.
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1.2.6 Current Limit Value and Pressing Force SA4C, SA4R
Current Limit Value Lead 2.5 [N] Lead 5 [N] Lead 10 [N] Lead 16 [N]
Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
(2) There is a little variance in the actual pressing force. The variance of the pressing force becomes large when the current limit value is low.
(3) Use the product within the range in the graph for the current limit value. Pressing force will not be stable if used below 20%. There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.
(4) For CON-system controllers such as PCON, when the approach speed to the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.
For SEL-system controllers, such as MSEL, press at the speed set by PAPR instruction, regardless of the approach speed up to the pressing start position.
Value Lead 3 [N] Lead 6 [N] Lead 12 [N] Lead 20 [N]
20% 106 53 27 16 30% 159 79 40 24 40% 211 106 53 32 50% 264 132 66 40 60% 317 159 80 48 70% 370 185 93 56 ※ This is a reference at 20mm/s of pressing speed.
Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
(2) There will be a little variance in the actual pressing force. The variance of the pressing force becomes large when the current limit value is low.
(3) Use the product within the range in the graph for the current limit value. Pressing force will not be stable if used below 20%. There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.
(4) For CON-system controllers such as PCON, when the approach speed to the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.
For SEL-system controllers, such as MSEL, press at the speed set by PAPR instruction, regardless of the approach speed up to the pressing start position.
Value Lead 4 [N] Lead 8 [N] Lead 16 [N] Lead 24 [N]
20% 192 96 48 32 30% 288 144 72 48 40% 385 192 96 64 50% 481 240 120 80 60% 577 288 144 96 70% 673 336 168 112 ※ This is a reference at 20mm/s of pressing speed.
Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
(2) There will be a little variance in the actual pressing force. The variance of the pressing force becomes large when the current limit value is low.
(3) Use the product within the range in the graph for the current limit value. Pressing force will not be stable if used below 20%. There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.
(4) For CON-system controllers such as PCON, when the approach speed to the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.
For SEL-system controllers, such as MSEL, press at the speed set by PAPR instruction, regardless of the approach speed up to the pressing start position.
Value Lead 5 [N] Lead 10 [N] Lead 20 [N] Lead 30 [N]
20% 273 137 68 46 30% 410 205 102 68 40% 546 273 137 91 50% 683 341 171 114 60% 819 410 205 137 70% 956 478 239 159 ※ This is a reference at 20mm/s of pressing speed.
Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
(2) There will be a little variance in the actual pressing force. The variance of the pressing force becomes large when the current limit value is low.
(3) Use the product within the range in the graph for the current limit value. Pressing force will not be stable if used below 20%. There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.
(4) For CON-system controllers such as PCON, when the approach speed to the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.
For SEL-system controllers, such as MSEL, press at the speed set by PAPR instruction, regardless of the approach speed up to the pressing start position.
1.2.7 Allowable Moment of Actuator [Single Slider]
Allowable static moment [N・m] Allowable dynamic moment [N・m] Type
Ma Mb Mc Ma Mb Mc
Allowable overhang Load (L)
SA4C SA4R 13.0 18.6 25.3 5.0 7.1 9.7
Ma direction: 150mm Mb or Mc direction:
150mm
SA6C SA6R 48.5 69.3 103 11.6 16.6 24.6
Ma direction: 220mm Mb or Mc direction:
220mm
SA7C SA7R 115 115 229 44.7 44.7 89.1
Ma direction: 300mm Mb or Mc direction:
300mm
SA8C SA8R 219 219 414 77.0 77.0 146
Ma direction: 400mm Mb or Mc direction:
400mm Allowable dynamic moment is a moment in the case of the operation life of 5,000 km. [Refer to 6. “Life”]
[Double Slider (Option)]
Allowable Static Moment [N・m]
Allowable Dynamic Moment [N・m]
Type
Real Span
of Slider [mm]
Ma Mb Mc Ma Mb Mc
Allowable Overhang Load (L)
SA4C SA4R 60 143 204 50.5 44.6 63.6 15.7
Ma direction: 420mm Mb or Mc direction:
420mm
SA6C SA6R 90 546 779 205 106 152 40
Ma direction: 630mm Mb or Mc direction:
630mm
SA7C SA7R 70 900 900 458 285 285 145
Ma direction: 810mm Mb or Mc direction:
810mm
SA8C SA8R 120 1980 1980 828 565 565 237
Ma direction: 1,200mmMb or Mc direction:
1,200mm Allowable dynamic moment is a moment in the case of the operation life of 5,000 km. [Refer to 6. “Life”]
[For the dimensions of the slide cover and the dimensions between the slide covers, please refer to 5.
“External Dimensions”]
Real Span of Slider
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Direction of moment Direction of allowable overhang Calculate Ma and Mc moment based on the arrow position. SA4 SA6 SA7 SA8
Note: If the actuator is used with exceeding allowable moment and overhang load, it would not only cause noise and vibration, but also it may significantly reduce the life of the actuator.
Ma: Pitching direction Mb: Yawing direction Mc: Rolling direction
Ma Mb
Mc L
48
L
36
12
46
16.5
62.5
48
19.5
45.567.5 67.5
22
Direction of allowable overhang
Direction of Moment
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1.2.8 Duty ratio for continuous operation [Standard Specification] It can operate continuously when the duty ratio is 100%. [Built-in Controller Specification] RCP6S-SA4C, 4R, 8C, 8R, RCP6SCR-SA4C, 8C
It can operate continuously when the duty ratio is 100%. RCP6S-SA6C, 6R, RCP6SCR-SA6C
Lead 12mm and 20mm can operate continuously when the duty ratio is 100%. Operate with the duty ratio as in the following graph for lead 3mm and 6mm.
RCP6S-SA7C, 7R, RCP6SCR-SA7C
Lead 24mm can operate continuously when the duty ratio is 100%. Operate with the duty ratio as in the following graph for lead 4mm, 8mm, and 16mm.
Duty ratio is an operating rate, which indicates the time that the actuator is running in one cycle by percentage.
Dut
y ra
tio(%
)
Temperature(°C)
Lead 3mm
Lead 6mm 38°C
Dut
y ra
tio(%
)
Temperature(°C)
Lead 4mm
Lead 8mm
37°C
35°C Lead 16mm
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1.3 Options 1.3.1 Brake Type (Model : B) The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when the power or servo is turned OFF. Use the brake to prevent the installed load, etc., from being damaged due to the falling slider. 1.3.2 Reversed-home Specification (Model : NM) The standard home position is on the motor side. However, the motor position will be reversed if it is desirable in view of the layout of the system, etc. (Note) The home position is adjusted at the factory before shipment. If you wish to change the
home after the delivery of your actuator, you must return the actuator to IAI for adjustment.
1.3.3 High Precision Specifications (Model: HPR) Application: SA4C lead 2.5, 5, 10 SA6C lead 3, 6, 12 SA7C lead 4, 8 SA8C lead 5, 10
(However, the double slider specification W is excluded.) Standard positioning repeatability is ± 0.01mm. When this option is specified, positioning repeatability will become ± 0.005mm. There are some leads that cannot be set. [Refer to 1.2.4 “Positioning Precision”] 1.3.4 Motor Left Side-Mounted, Motor Right Side-Mounted (Model: ML, MR) From the view of the motor side, the type with the motor side-mounted to the left is ML and the motor side-mounted to the right is MR.
ML (Left
Side-Mounted)
MR (Right
Side-Mounted)
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1.3.5 Cable Exit Direction Changed (Model: CJT, CJR, CJL, CJB, CJO) If a change in the cable exit direction is made, the direction of cable exit will be changed. There are ejection directions, top (model: CJT), right (model: CJR), left (model: CJL), bottom (model: CJB) and outward (model: CJO). The side-mounted motor type of RA4S, RA6S, RA7S, and RA8S can only be selected for CJO.
1.3.6 Slider spacer (Model: SS)
Application : SA7R, SA8R(However, the double slider specification W is excluded.) When the spacer is used, the work mounting surface of the slider can be higher than the motor unit. This allows to ignore work interferences. [For the shapes, refer to 5. “External Dimensions”]
1.3.7 Slider Roller Specification(Model: SR)
The structure of the slider is a roller structure, the same as the cleanroom type. 1.3.8 Double Slider Specification(Model: W)
This is an option that adds a free slider that is not connected to the ball screw. Doubling the slider makes it possible to increase the moment and the overhang load length. [For the shapes, refer to 5. “External Dimensions”]
1.3.9 Air Vacuum Joint on the Opposite Side (Model: VR)
The air vacuum joint of the cleanroom type is standardly installed on the left side of the actuator as viewed from the motor side. This is an actuator in which this joint is installed on the opposite side.
CJT Top
Figure viewed from motor side CJB
Botto
CJL Left
CJR Right
Figure viewed from opposite side
CJO Outw
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1.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables (SA4, SA6 and SA7)
CB-CAN-MPA indicates the cable length (L) (Example: 030=3m), Max.20m
Connection diagram
Actuator side Controller side Thickness Electric
Wire Color Symbol Pin No. Pin No. Symbol Electric
Wire Color Thickness
AWG22/19 Blue φA 3 1 φA Blue AWG22/19AWG22/19 Orange VMM 5 2 VMM Orange AWG22/19AWG22/19 Brown φB 10 3 φB Brown AWG22/19AWG22/19 Gray VMM 9 4 VMM Gray AWG22/19AWG22/19 Green φ_A 4 5 φ_A Green AWG22/19AWG22/19 Red φ_B 15 6 φ_B Red AWG22/19
AWG26 Black LS+ 8 7 LS+ Black AWG26AWG26 Yellow LS- 14 8 LS- Yellow AWG26AWG26 Blue SA 12 11 SA Blue AWG26AWG26 Orange SB 17 12 SB Orange AWG26AWG26 Green A+ 1 13 A+ Green AWG26AWG26 Brown A- 6 14 A- Brown AWG26AWG26 Gray B+ 11 15 B+ Gray AWG26AWG26 Red B- 16 16 B- Red AWG26AWG26 Blue BK+ 20 9 BK+ Blue AWG26AWG26 Orange BK- 2 10 BK- Orange AWG26AWG26 Gray VCC 21 17 VCC Gray AWG26AWG26 Red GND 7 19 GND Red AWG26AWG26 Brown VPS 18 18 VPS Brown AWG26AWG26 Green LS_GND 13 20 LS_GND Green AWG26
- - - 19 22 - - AWG26 Pink - 22 21 - Pink AWG26
- - - 23 23 - - AWG26 Black FG 24 24 FG Black AWG26
(Note) About thickness AWG22/19 The thickness is AWG22 when the cable length is 5m or less, and AWG19 when longer
1.4.2 Motor • Encoder Integrated Cables Robot Type (SA4, SA6 and SA7) CB-CAN-MPA-RB indicates the cable length (L) (Example: 030=3m), Max.20m
Connection diagram
Actuator side Controller side Thickness Electric
Wire Color Symbol Pin No. Pin No. Symbol Electric
Wire Color Thickness
AWG22/19 Blue φA 3 1 φA Blue AWG22/19AWG22/19 Orange VMM 5 2 VMM Orange AWG22/19AWG22/19 Brown φB 10 3 φB Brown AWG22/19AWG22/19 Gray VMM 9 4 VMM Gray AWG22/19AWG22/19 Green φ_A 4 5 φ_A Green AWG22/19AWG22/19 Red φ_B 15 6 φ_B Red AWG22/19
AWG26 Black LS+ 8 7 LS+ Black AWG26AWG26 Yellow LS- 14 8 LS- Yellow AWG26AWG26 Blue SA 12 11 SA Blue AWG26AWG26 Orange SB 17 12 SB Orange AWG26AWG26 Green A+ 1 13 A+ Green AWG26AWG26 Brown A- 6 14 A- Brown AWG26AWG26 Gray B+ 11 15 B+ Gray AWG26AWG26 Red B- 16 16 B- Red AWG26AWG26 Blue BK+ 20 9 BK+ Blue AWG26AWG26 Orange BK- 2 10 BK- Orange AWG26AWG26 Gray VCC 21 17 VCC Gray AWG26AWG26 Red GND 7 19 GND Red AWG26AWG26 Brown VPS 18 18 VPS Brown AWG26AWG26 Green LS_GND 13 20 LS_GND Green AWG26
- - - 19 22 - - AWG26 Pink - 22 21 - Pink AWG26
- - - 23 23 - - AWG26 Black FG 24 24 FG Black AWG26
(Note) About thickness AWG22/19 The thickness is AWG22 when the cable length is 5m or less, and AWG19 when longer
1.4.3 Motor • Encoder Integrated Cables (SA8) CB-CFA3-MPA indicates the cable length (L) (Example: 030=3m), Max.20m
Connection diagram Actuator side Controller side
Thickness Electric Wire Color
Symbol Pin No. Pin No. Symbol Electric Wire Color
Thickness
AWG22/19 Blue φA A1 1 φA Blue AWG22/19AWG22/19 Orange VMM B1 2 VMM Orange AWG22/19AWG22/19 Green φ_A A2 5 φ_A Green AWG22/19AWG22/19 Brown φB B2 3 φB Brown AWG22/19AWG22/19 Gray VMM A3 4 VMM Gray AWG22/19AWG22/19 Red φ_B B3 6 φ_B Red AWG22/19
AWG26 Black LS+ A4 7 LS+ Black AWG26AWG26 Yellow LS- B4 8 LS- Yellow AWG26AWG26 Blue SA A6 11 SA Blue AWG26AWG26 Orange SB B6 12 SB Orange AWG26AWG26 Green A+ A7 13 A+ Green AWG26AWG26 Brown A- B7 14 A- Brown AWG26AWG26 Gray B+ A8 15 B+ Gray AWG26AWG26 Red B- B8 16 B- Red AWG26AWG26 Blue BK+ A5 9 BK+ Blue AWG26AWG26 Orange BK- B5 10 BK- Orange AWG26AWG26 Green LS_GND A9 20 LS_GND Green AWG26AWG26 Brown VPS B9 18 VPS Brown AWG26AWG26 Gray VCC A10 21 VCC Gray AWG26AWG26 Red GND B10 19 GND Red AWG26
- - A11 17 - - - AWG26 Black FG B11 22 - AWG26
23 - - - 24 FG Black AWG26
(Note) About thickness AWG22/19 The thickness is AWG22 when the cable length is 3m or less, and AWG19 when longer
than 3m.
Actuator side Connector: 1-1827863-1 Contact: 1827570-2
1.4.4 Motor • Encoder Integrated Cables Robot Type (SA8) CB-CFA3-MPA-RB indicates the cable length (L) (Example: 030=3m), Max.20m
Connection diagram Actuator side Controller side
Thickness Electric Wire Color
Symbol Pin No. Pin No. Symbol Electric Wire Color
Thickness
AWG22/19 Blue φA A1 1 φA Blue AWG22/19AWG22/19 Orange VMM B1 2 VMM Orange AWG22/19AWG22/19 Green φ_A A2 5 φ_A Green AWG22/19AWG22/19 Brown φB B2 3 φB Brown AWG22/19AWG22/19 Gray VMM A3 4 VMM Gray AWG22/19AWG22/19 Red φ_B B3 6 φ_B Red AWG22/19
AWG26 Black LS+ A4 7 LS+ Black AWG26AWG26 Yellow LS- B4 8 LS- Yellow AWG26AWG26 Blue SA A6 11 SA Blue AWG26AWG26 Orange SB B6 12 SB Orange AWG26AWG26 Green A+ A7 13 A+ Green AWG26AWG26 Brown A- B7 14 A- Brown AWG26AWG26 Gray B+ A8 15 B+ Gray AWG26AWG26 Red B- B8 16 B- Red AWG26AWG26 Blue BK+ A5 9 BK+ Blue AWG26AWG26 Orange BK- B5 10 BK- Orange AWG26AWG26 Green LS_GND A9 20 LS_GND Green AWG26AWG26 Brown VPS B9 18 VPS Brown AWG26AWG26 Gray VCC A10 21 VCC Gray AWG26AWG26 Red GND B10 19 GND Red AWG26
- - A11 17 - - - AWG26 Black FG B11 22 - AWG26
23 - - - 24 FG Black AWG26
(Note) About thickness AWG22/19 The thickness is AWG22 when the cable length is 3m or less, and AWG19 when longer
than 3m.
Actuator side Connector: 1-1827863-1 Contact: 1827570-2
2. Installation 2.1 Transportation [1] Handling of Robot When you want to transport the actuator alone, observe the following points. (1) Handling the Packed Unit
Unless otherwise specified, the actuator is shipped with each axis packaged separately. • Do not damage or drop. The package is not applied with any special treatment that enables it to
resist an impact caused by a drop or crash. • Transport a heavy package with at least more than two operators. Consider an appropriate
method for transportation. • Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the
instruction if there is any for the packaging condition. • Do not step or sit on the package. • Do not put any load that may cause a deformation or breakage of the package.
(2) Handling the Actuator After Unpacking
• Do not carry an actuator by motor unit and a cable or attempt to move it by pulling the cable. • Be careful not to bump the actuator into anything when moving it. • Hold the body base when transporting the actuator. • Do not apply an excessive force to each part of the actuator.
In the case that the actuator has a stainless steel sheet, take particular care not to apply pressure to the stainless steel sheet.
Supplement) For the names of each part of the actuator, refer to “Names of the Parts”
Note: Never hold the stainless steel sheet part.
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2. Installation
[2] Handling in the Assembled Condition This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. Fix the slider so that would not accidentally move during transportation. The actuators are also fixed so the tip of it would not shake due to the external vibration.
(1) Handling the Packed Unit • Do not damage or drop. The package is not applied with any special treatment that enables it to
resist an impact caused by a drop or crash. • Do not attempt to carry a heavy package with only one worker. Also, have an appropriate
method for transportation. • When hanging up with ropes, support on the reinforcement frame on the bottom of the lumber
base. When bringing up the package with a forklift, also support on the bottom of the lumber base.
• Handle with care when putting the package down to avoid impact or bounce. • Do not step on the package. • Do not put any load that may cause a deformation or breakage of the package.
(2) How to Handle after Unpackaged • Fix the slider so they would not accidently move during transportation. • If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the
external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.
• When hanging up with ropes, have appropriate cushioning to avoid any deformation of the actuator body. Also keep it in stable horizontal orientation. Make a fixture utilizing the attachment holes and the tapped holes on the actuator body if necessary.
• Do not attempt to apply load on the actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.
[3] Handling in Condition of being assembled in Machinery Equipment
(System) These are some caution notes for when transporting the actuator being assembled in the machinery equipment (system): • Fix the slider so they would not accidently move during transportation. • If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the
external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.
• When hanging up the machinery equipment (system) with ropes, do not attempt to apply load on the actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.
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2. Installation
2.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection. • Where the actuator receives radiant heat from strong heat sources such as heat treatment
furnaces • Where the ambient temperature exceeds the range of 0 to 40°C • Where the temperature changes rapidly and condensation occurs • Where the relative humidity exceeds 85% RH • Where the actuator receives direct sunlight • Where the actuator is exposed to corrosive or combustible gases • Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding
what is normally expected in an assembly plant) • Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or
chemical solutions • Where the actuator receives impact or vibration • Where the altitude is more than 2000m If the actuator is used in any of the following locations, provide sufficient shielding measures: • Where noise generates due to static electricity, etc. • Where the actuator is subject to a strong electric or magnetic field • Where the actuator is subject to ultraviolet ray or radiation [2] Storage • Preservation Environment • The storage and preservation environment should comply with the same standards as those for
the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms.
• Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.
• For storage and preservation temperature, the machine withstands temperatures up to 60°C for a short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50°C or less.
• Storage and preservation should be performed in the horizontal condition. In the case it is stored in the packaged condition, follow the posture instruction if any displayed on the package.
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2. Installation
2.3 How to Install This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models). : Possible : Daily inspection is required × : Not possible
Model Horizontal installation
Vertical installation
Sideway installation
Ceiling mount installation
SA4C, SA6C, SA7C, SA8C, SA4R, SA6R, SA7R, SA8R
Installation Orientation
Horizontal Vertical Sideways Ceiling mount
Caution: 1. When the unit is installed vertically oriented, Motor straight type is attempt to put the motor up unless there is a special reason. · Putting the motor on the lower side would not cause a problem in an ordinary operation. However, it may rarely cause a problem, when it is not operated for a long period, depending on the surrounding environment (especially high temperature), caused by the grease being separated and the base oil flowing into the motor unit.
2. Can be installed sideways or ceiling mount, but the actuators must be checked daily. If the actuator is installed sideways or ceiling mount, the stainless steel sheet may be slacked or displaced. If the actuator is used continuously while the stainless steel sheet is slacked or displaced, the stainless steel sheet may break or other problems may occur. Check the actuator daily and if the stainless steel sheet is found slacked or displaced, make installation adjustment of the stainless steel sheet. [Refer to 4.7 “Procedure for Stainless Steel Sheet Replacement and Adjustment”]
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2. Installation
2.3.2 Installation of the Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm/m. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. Also consider enough space necessary for maintenance work such as actuator replacement and inspection. There are reference surfaces for attachment on the base. The flatness of the slider movement is designed to be 0.05mm/m at maximum to the reference surface. On the rear side of the actuator, there are tapped holes and through holes for attachment and reamed hole and oblong hole for positioning. See the appearance drawings for the details of the position and diameters. [Refer to 5. “External Dimensions”] Utilize the reamed holes when repeatability in the attachment after detaching is required. However, when small tunings such as the perpendicularity is required, consider such things like to use one reamed hole. [1] Using the Tapped Holes on the Bottom of the Base This actuator has the tapped holes for mounting so it can be fixed from the bottom of the base. (Note that tapped hole size depends on the model. Please see the diagrams below and 5 “External Dimensions”.) Also, there are reamed holes and an oblong hole for positioning pins.
(Note) Strokes 50 for SA6, SA7, and strokes 50 and 100 for SA8 do not have oblong holes.
B
A
Tightening Torque
Model Name
Tapped Hole Size Tapped Holes Depth In the case that
steel is used for the bolt seating surface:
In the case that aluminum is used for the bolt seating surface:
Reamed Hole [mm] Oblong Hole
SA4C SA4R M4
Through (screwing depth should be
6mm max.)
3.59N・m (0.37kgf・m)
1.76N・m (0.18kgf・m) φ3H7 Depth 4
A:3 B:4 Depth 4mm or
less
SA6C SA6R M5
Through (screwing depth should be
10mm max.) 7.27N・m
(0.74kgf・m) 3.42N・m
(0.35kgf・m) φ4H7 Depth
5.5
A:4 B:5 Depth 5.5mm or less
SA7C SA7R M5
Through (screwing depth should be
10mm max.) 7.27N・m
(0.74kgf・m) 3.42N・m
(0.35kgf・m) φ4H7 Depth 6
A:4 B:5 Depth 6mm or less
SA8C SA8R M6
Through (screwing depth should be
12mm max.) 12.3N・m
(1.25kgf・m) 5.4N・m
(0.55kgf・m) φ6H7 Depth
6.5
A:6 B:7 Depth 6.5mm or less
+0.010 0
Oblong Hole
+0.010 0
+0.010 0
+0.010 0
Through Hole Reference
surface
Tapped Hole
Oblong Hole
Reamed Hole
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2. Installation
Tightening Screws • Use hexagonal socket head bolts for the male threads for installing the base. • Use of high-tension bolts meeting at least ISO 10.9 is recommended. • The length of thread engagement should be 1.8 times more than the nominal diameter, and pay
attention not to stick the screw out inside the actuator for through hole.
Note: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, the tapped holes may be damaged, actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.
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2. Installation
[2] Using the Through Holes on the Top of the Base There are through holes equipped on the base of SA4, SA6, SA7, so the unit can be attached from the top of the base. Detach the side covers on the sides when installing. (Remove 4 attachment screws (+) with a Philips screwdriver.) Attempt not to drop the bolts, tools, etc. on the stainless steel sheet when tightening the bolts. Please avoid making a dent mark or scratches. The slider cannot be driven only with ROBO Cylinder itself if it is equipped with a brake. Detach the motor unit once to move the slider for installation, and put the motor unit back on. [Refer to 4.9 “Motor Replacement Process”] Or, connect a controller and have JOG operation to move the slider to perform installation.
(Note) For the side-mounted specification models of SA4R, SA6R, and SA7R, the side cover and motor cover interfere each other so that they cannot be removed as they are. Remove the motor cover and detach the side cover. [For removing direction of the motor cover, refer to 4.9 “Motor Replacement Process”]
For mounting bolts, use hexagonal socket head bolts indicated in the following table depending on the platform material.
Caution:Please be sure to follow the following precautions when mounting the side-mounted type SA4R, SA6R, or SA7R using the through holes on the top of the base. When the motor cover is removed and the encoder is visible, do not touch the encoder part directly with hands. If touched with hands, the encoder phase may change, resulting in an error.
Encoder
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2. Installation
Tightening Screws • Use hexagonal socket head bolts for the male threads for installing the base. • Use of high-tension bolts meeting at least ISO 10.9 is recommended. • For the effective engagement length between the bolt and female thread, provide at least the
applicable value specified below: Female thread is made of steel material → Same length as the nominal diameter Female thread is made of aluminum → 1.8 times of nominal diameter
Note: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.
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2. Installation
[3] When Using Attachment Holes on Bracket in Side-Mounted Motor Type There are tapped holes equipped on the side-mounted bracket. (Refer to the table below for detailed dimensions.)
For SA4R
A
A
B
4‐M
For SA6R, SA7R, SA8R
A
A4‐M
B
A B SA4R 32 10 SA6R 45 10.5 SA7R 55 8 SA8R 55 9.5
Model Name
Attachment Hole
Diameter
Attachment Hole Depth Tightening Torque
SA4R M4 8mm 1.76N・m (0.18kgf・m)
SA6R M6 12mm 5.4N・m (0.55kgf・m)
SA7R M8 16mm 11.5N・m (1.17kgf・m)
SA8R M8 16mm 11.5N・m (1.17kgf・m)
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2. Installation
Tightening Screws • Use hexagonal socket head bolts for the male threads for installing the base. • Use of high-tension bolts meeting at least ISO 10.9 is recommended. • Have the length of thread engagement approximately 1.8 times of the nominal diameter.
Note: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, the damage of the attachment hole and actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.
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2. Installation
[Precautions for Attachments] Pay attention to the following when installation is conducted with using the attachment holes on the side-mounted bracket. Do not attempt to affix the unit only with the tapped holes on the side-mounted bracket. Do not apply external force to the main body. There may be caused vibration due to the operating condition or installation environment, which may result in operational failures or components malfunction. Availability of installation for each installation posture is as shown below:
天吊り
外力
外力
垂直
水平取付不可
When using the product in horizontal or vertical orientation, have a support block to support the main body to avoid any external force to be applied on the body.
支持台
Installation Posture
Horizontal Vertical Ceiling Mount
Support
× × × No × Yes
Support Block
Unmountable
External Force External Force
Horizontal
Vertical Ceiling mount
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2. Installation
[4] Attachment of Transported Object • There are tapped holes on the top surface of the slider. • The way to affix follows the installation of the main unit. • There are reamed holes two for SA8C/R and four for others on the top surface of the slider. Use
these reamed holes if repeatability of attaching and detaching is required. Also, if small tuning such as perpendicularity is required, use one of the reamed holes for the tuning.
• Refer to the below table for the screwed depth and reamed depth. Screwing further than indicated in the table may destroy the tapped hole or lower the reinforcement of the attachment of the work part, result in the drop of the accuracy or an unexpected accident.
For SA4C/R, SA6C/R, SA7C/R
For SA8C/R
Mounting Bolt
Model Name A B C Reamed Hole Tapped Hole M Bolt Nominal Diameter
Tightening Screws • Use hexagonal socket head bolts for the male threads for installing the base. • Use of high-tension bolts meeting at least ISO 10.9 is recommended. • Have the length of thread engagement approximately 1.8 times of the nominal diameter.
Note: Be careful when selecting the bolt length. Selection of inappropriate length of bolts may cause a breakage of tapped holes or insufficient strength of attachment for transportation.
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2. Installation
[5] Mounting Surface • The platform to install the actuator should possess a structure that ensures enough stiffness,
and should be free from vibration. • The surface where the actuator will be mounted should be a machined surface or that with an
accuracy equivalent to it, and the flatness should be 0.05mm/m or below. • Ensure a room for maintenance work. • The side and bottom surfaces of the base on the actuator work as the reference surfaces for
the side of the slider. • Use these surfaces as the reference surfaces for mounting.
Follow the below when installing the device using the reference surface.
Note: There are cases that the width dimensions of the front bracket and rear bracket are bigger than the width dimensions of the reference surface, so it must be abutted within the effective range of the reference surface.
Model Name A Dimensions [mm]SA4,
SA6, SA7 2 to 4 or less
SA8 3 to 5 or less
In the case that the accuracy is required, use the base side surface as reference surface for mounting, as this surface works as the reference surface for the running of the slider.
Reference surface
Reference surface
Reference surface Effective Range
R0.3 or less
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2. Installation
If given an abutting on reference surface process outside of the effective range, it may interfere with the bracket and the motor unit.
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2. Installation
2.3.3 About Suction of the CleanroomType
Cleanroom type actuators are able to exert performance corresponding to cleanroom class 10 (0.1 µm, Fed.Std.209D) and class 2.5 equivalent (ISO 14644-1) by aspirating air from the vacuum joint. The guidelines of the suction amounts for the rated speeds of each model are shown in the following table. - Please perform suction of air from the two vacuum joints located on the sides of the actuator
according to the suction amounts (total amount of the two locations) shown in the table below. Also, please manage the joints so that the suction amounts of the two locations are equivalent.
- Please use the actuator in a state in which all of the base attachment holes on the bottom of the actuator are covered. When there is a hole that passes through the actuator, the level of cleanliness decreases.
3. Connecting with the Controller As the connection cable for the controller and the actuator, use the IAI-dedicated connection cable. • If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing
it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.
• Do not cut and reconnect the dedicated connection cable for extension or shorten the cable. • Do not pull on the dedicated connection cable or bend it forcibly. • The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it
would not be bent repeatedly Please consult with IAI if you require a different kind of cable than the one supplied.
RCP6- ×× Dedicated Connection Cable (Connect RCP6 and dedicated controller)
Robot Cable : 5m or below(Note1) r = 68mm or more (movable use) : In the case of exceeding 5m(Note2) r = 73mm or more (movable use) Standard Cable : 5m or below(Note1) r = 85mm or more (fixed use) : In the case of exceeding 5m(Note2) r = 91mm or more (fixed use)
Note 1 CB-CFA3-MPA(-RB) is 3m or less. Note 2 When CB-CFA3-MPA(-RB) is over 3m.
Dedicated Controller
Dedicated Cable SA4, SA6, SA7 · Motor Encoder Integrated Cables: CB-CAN-MPA · Motor Encoder Integrated Robot Cables:
CB-CAN-MPA-RB SA8 · Motor Encoder Integrated Cables: CB-CFA3-MPA · Motor Encoder Integrated Robot Cables:
CB-CFA3-MPA-RB * represents the cable length. The longest corresponds to 20m.
Warning: For wiring, please follow the warnings stated below. When constructing a system as
the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.
• Use dedicated cables of IAI indicated in this instruction manual. Contact us if you wish to have a
change to the specifications of the dedicated cables. • Make sure to turn the power off in the process of power line or cable connection or
disconnection. • Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or
re-joint it. • Hold the dedicated cable to avoid mechanical force being applied to the terminals and
connectors. • Use a cable pipe or duct to have an appropriate protection when there is a possibility of
mechanical damage on a dedicated cable. • In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without
applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the cable with a bending radius below the allowable value.
• Make certain that the connectors are plugged properly. Insufficient connection may cause an
operation error, thus it is extremely risky. • Do not lay out the cables to where the machine runs over them. • Pay attention to the cable layout so it would not hit peripherals during an operation. In case it
does, have an appropriate protection such as a cable track. • When a cable is used hanging on the ceiling, prevent an environment that the cable swings with
acceleration or wind velocity. • Make sure there is not too much friction inside the cable storage equipment. • Do not apply radiated heat to power line or cables. • Do not bend the cable in the area from the connector tip inward to 150mm on both ends.
Motor • Encoder Integrated Cables CB-CAN-MPA CB-CFA3-MPA Motor • Encoder Integrated Cables Robot Type CB-CAN-MPA-RB CB-CFA3-MPA-RB
150mm 150mm
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3. C
onnecting with the C
ontroller
• Do not attempt to use the motor / encoder cable in a condition that the cable is bundled up in
several layers such as coil winding. There are motor driving power line and encoder signal line in the motor / encoder cable. Therefore, if the motor / encoder cable is bundled up, the noise generated from the motor driving power line could give an influence to the encoder and may cause an error.
• Have a sufficient radius for bending, and avoid a bend concentrating on one point.
• Do not let the cable bend, kink or twist.
• Do not pull the cable with a strong force.
• Pay attention not to concentrate the twisting force to one point on a cable.
Steel Strap (Piano Wire)
Tie them up softly.
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3. C
onnecting with the C
ontroller
• Do not pinch, drop a heavy object onto or cut the cable.
• When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too
much.
• PIO line, communication line, power and driving lines are to be put separately from each other
and do not tie them together. Arrange so that such lines are independently routed in the duct.
Follow the instructions below when using a cable track. • If there is an indication to the cable for the space factor in a cable track, refer to the wiring
instruction given by the supplier when storing the cable in the cable track. • Avoid the cables to get twined or twisted in the cable track, and also to have the cables move
freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.
Do not use spiral tube in any position where cables are bent frequently.
Duct I/O Lines (Flat Cable)
Power Line
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4. M
aintenance and Inspection
4. Maintenance and Inspection 4.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.
Period of Time External Visual
Inspection
Internal Inspection
Greasing (Note 1)
Start of work inspection 1 month inspection 3 month inspection 3 months after starting operation 6 month inspection (Note 2) Every 6 months thereafter (Note 2)
Depends on grease supply timing (reference)
Note 1 Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or less. As a guide, perform a back-and-forth operation five times or so over a distance of 50 mm or more after a back-and-forth operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.
Note 2 Check the condition of grease, and wipe off the grease before supplying new in case it is extremely dirty. [Grease Supply Timing (Reference)]
Perform grease supply when it has reached to either the operation distance or spent months described in the table below.
Grease Supply Timing (Reference) Maximum Speed of Use [mm/s] Operated distance Months 0 to 750 or less 1,250km
750 to 1440 2,500km 12 month
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4. M
aintenance and Inspection
4.2 External Visual Inspection An external visual inspection should check the following things.
Main unit Loose actuator mounting bolts, other loose items
Overall Abnormal noise, vibration • In the case that displacement or slack of stainless steel sheet is found, timely adjust it. • As a rule of thumb, the stainless steel sheet should last for about 5000km of motion.
However, depending on the usage, replace the stainless steel sheet appropriately. Sheet replacement can be done by the customer; make sure that there is no displacement or slack in the stainless steel sheet. This may lead to damage to the sheet. If you have any concerns regarding the work, we recommend that you bring the unit to our plant or have one of our technicians come to your plant to perform the replacement.
• If the actuator is installed vertically, certain conditions may cause grease to drip from the guide. Please ensure that proper cleaning is performed and grease is replenished.
4.3 Cleaning • Clean exterior surfaces as necessary. • Use a soft cloth to wipe away dirt and buildup. • Do not blow too hard with compressed air as it may cause dust to get in through the gaps. • Do not use oil-based solvents as they can harm lacquered and painted surfaces. • To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or
alcohol.
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4. M
aintenance and Inspection
4.4 Internal Inspections Turn OFF the power, remove the side cover and have a visual inspection. When inspecting the interior, check the following items.
Actuator Loose mounting bolts, other loose items
Guide section Lubrication, buildup
Visually inspect the interior of the equipment. Check whether dust or other foreign matter has gotten inside and check the lubrication state. The lubrication may have turned brown. This is not a problem as long as the travel surfaces shine as though they are wet. If the grease is mixed with dust and does not have a shiny appearance, or if the grease has lost its efficacy due to prolonged use, then clean each section and reapply grease. The procedure for internal inspections is outlined below. ① Loosen the screws on the side cover and detach the side cover. ② Check inside. ③ After finishing the inspection, assemble back in the reverse order. If you touch the edge of the
stainless steel sheet in the attaching the side cover process, the sheet may get damaged or wavy which result in shortening life or earlier wear-out. To avoid touching the edge of the sheet, insert a spacer (approximately 0.1 to 0.2mm) between the sheet and cover to push up the sheet, and then push in the cover.
When affixing the side cover, tighten the screws with the tightening torque described below.
Screw Diameter
Tightening Torque
M5 41.4N·cm ④ Make sure that the slider and the side cover do not interfere, moving the slider backwards and
forwards between the strokes. 4.5 Internal Cleaning • Use a soft cloth to wipe away dirt and buildup. • Do not blow too hard with compressed air as it may cause dust to get in through the gaps. • Do not use oil-based solvents, neutral detergent or alcohol.
Note: Do not damage the stainless steel sheet by bending it forcefully during internal inspection. Do not tug on the stainless steel sheet or in any way attempt to reposition it. Change in the attached condition may cause the sheet to be mounted unevenly or impact the product life. In such cases, please contact IAI Sales Engineer Department. Keep in mind that the edges of the stainless steel sheet can cause injuries. Always wear gloves when working on it.
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aintenance and Inspection
4.6 Grease Supply 4.6.1 Standard Type Grease to Use [1] Standard Type
IAI uses the following grease in our plant. Guide Ball Screw Kyodo Yushi Multitemp LRL 3
[2] Cleanroom Type
For the cleanroom type, urea-based grease having superior low-dust emission, stable torque characteristics, superior lubricity, and antirust effects equivalent to lithium-based grease is used. IAI uses the following grease in our plant.
Guide/Ball Screw Kuroda Precision Industries
C grease
Warning: • For grease to be used with an actuator that has a cleanroom setting, please use a
type of grease that emits a low amount of dust and is described for cleanroom use. When standard grease is used, dust may be emitted.
• Never use anything other than synthetic poly-olefin grease. When other types of grease are mixed with urea-based grease, degradation of the original lubricity may result in damage to the actuator or the clean performance may degrade.
Warning: Never use anything other than synthetic poly-olefin grease. Mixing poly-grease with other grease not only reduces the performance of the grease, it may even cause damage to the actuator.
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aintenance and Inspection
4.6.2 How to Apply Grease
1) Remove the screw and detach the side cover on either side, right or left. The grease nipple will appear. (Note) When the side cover on the other side has been detached, the other grease nipple
also appears.
Motor Side Opposite Side
Side Cover Attachment Screws
Side Cover Attachment Screws
Grease Nipple There is one on the other side.
After removal of the side cover on either side
Side Cover
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4. M
aintenance and Inspection
2) Supply grease from the grease nipple on either side, using the grease gun. Wipe off the grease before supplying new in case it is extremely dirty. (Note) Grease can also be applied from the grease nipple on the other side.
When grease is applied from the grease nipple on either side, grease is supplied to the ball screw and the guides on both sides.
(Note) Make sure to use a grease gun that is applicable for the grease nipple inlet diameter shown below.
Grease Nipple Diameter
φ3.5
Grease Gun Nozzle Supplier of nozzle Grease gun of mounting screw R1/8
(Example) GC-57K (Yamada Corporation) NZ3 NSK
Model Name Amount of Grease Supply (Reference)
SA4 0.5cc to 1.0cc SA6 1.5cc to 2.0cc SA7 2.0cc to 2.5cc SA8 3.5cc to 4.0cc
Move the slider back and forth in the stroke range after supplying grease so it spreads out evenly in the area. • Confirm that the ball tracks on the ball screw and guide look glossy with oil of grease.
Supply grease again if it is not spread enough. • Wipe off excess grease.
Caution: Supplying too much grease may increase sliding resistance and load to the motor, resulting in a drop of performance. Also, excess grease on the ball screw may be splashed around in the ambience.
Grease Gun
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aintenance and Inspection
3) Attach the side covers after grease supply is finished. If you touch the edge of the stainless steel sheet in the attaching process, the sheet may get damaged or wavy which result in shortening life or earlier wear-out. To avoid touching the edge of the sheet, insert a spacer (approximately 0.1 to 0.2mm) between the sheet and cover to push up the sheet, and then push in the cover. Also, make sure to follow the notice of caution when attaching side covers described in the next page when side covers are attached.
When affixing the side cover, tighten the screws with the tightening torque described below.
Screw
Diameter Tightening Torque
M3 41.4N・cm
3) Make sure that the slider and the side cover do not interfere, moving the slider backwards and forwards between the strokes.
Caution: • Do not damage the stainless steel sheet by bending it forcefully during work. Keep in mind that the edges of the stainless steel sheet can cause injuries. Always wear gloves when working on it. The front bracket is supporting the ball screw. Do not detach it. If the front bracket loses its tuned condition, it may cause an increase of driving resistance, shortened life of each component or abnormal noise due to the center of the axis being off the right position.
• In case the grease got into your eye, immediately go see the doctor to get appropriate care. After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease OFF.
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aintenance and Inspection
4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment In this section, explains how to replace and adjust the stainless steel sheet. Prepare a storage box and keep there the parts such as screws that have been removed for replacement, for they will be necessary upon re-assembling. 4.7.1 Preparation (1) Items required for replacing the stainless steel sheet
(2) Caution for the stainless steel sheet tension Degradation and wear-out of the stainless steel sheet relies on its tension of attachment.
If the stainless steel sheet is pulled with a huge force and the gap between the sheet and the slider cover is large, there is a risk of metal fatigue. On the other hand, if the tensile strength is too low, the stainless steel sheet would interfere with the back side of the slider cover and make dust to be generated. Therefore, adjust the tensile strength of the stainless sheet by the dedicated adjustment jig so as to the gap between the stainless sheet and the slider cover back will match the predetermined measurement.
(3) Names of the Parts
Stainless Sheet Retainer Plate
Stainless Sheet Retainer Plate
Stainless Steel Sheet
Slider Cover
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aintenance and Inspection
4.7.2 Procedure for Replacement and Tuning
Have a replacement and tuning in (1) Procedure 1 for SA7, SA8. For SA4, SA6 have a replacement and tuning in either (1) Procedure 1 or (2) Procedure 2.
(1) Procedure 1 1) Remove the screws (4 places) holding the stainless steel sheet and stainless steel sheet
retainer plates (2 pieces) with using a Phillips screwdriver. 2) Pull the old stainless steel sheet till in front of the slider. Make sure not to pull it out completely off the slider. 3) Join a new stainless steel sheet to the old one with using cellophane tape.
4) Pull the old stainless steel sheet so the new one goes through below the slider. Pull it till the new stainless steel sheet comes to the edge of the actuator.
Pull it till in front of the slider.
In front of Slider
Join with cellophane tape
Old stainless steel sheet
New stainless steel sheet
Pull till the edge
Edge
Pull
Old stainless steel sheet
New stainless steel sheet
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aintenance and Inspection
5) Remove the old stainless steel sheet. 6) Fix the two stainless steel sheet retainer plates using the screws (four locations). Use a Phillips screwdriver to attach it.
Tightening Torque 41.4N・cm
7) After the stainless steel sheet retainer plates have been fixed, move the slider from one side
to the other side (full stroke) with your hand to check that there is no rise or slackness in the stainless steel sheet. If there is any problem, repeat from step 6).
(2) Procedure 2
1) Remove the screws (4 places) holding the stainless steel sheet and stainless steel sheet retainer plates (2 pieces) with using a Phillips screwdriver.
2) Pull out the old stainless steel sheet.
There are two grooves for stainless steel sheet attachment guides. Align so that the stainless steel sheet is positioned at the center between the two grooves. Attach the stainless steel sheet so that it is not bent.
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aintenance and Inspection
3) Attach adhesive tape on one side of new stainless steel sheet.
4) Put the stainless steel sheet with an adhesive tape on the side cover.
Attach adhesive tape so that it wraps around the end side of the stainless steel sheet. At that time, arrange it so that about 3mm of the end of the tape projects from the stainless steel sheet. Cut any tape excess.
Side Cover
Stainless Steel Sheet
Sheet end with adhesive tape
Adhesive Tape
Stainless Steel Sheet
Stainless Steel Sheet
Take care not to drop the stainless steel sheet into the hole.
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aintenance and Inspection
5) With the stainless steel sheet being held, move the slider to put through the stainless
steel sheet.
6) After the stainless steel sheet passes through the slider, pull one end of the stainless steel sheet out to the position of the stainless steel retainer plate. Take off the adhesive tape once positioning is finished.
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aintenance and Inspection
7) Fix the two stainless steel sheet retainer plates using the screws (four locations). Use a Phillips screwdriver to attach it.
Tightening Torque 41.4N・cm
8) After the stainless steel sheet retainer plates have been fixed, move the slider from one side to the other side (full stroke) with your hand to check that there is no rise or slackness in the stainless steel sheet. If there is any problem, repeat from step 7).
There are two grooves for stainless steel sheet attachment guides. Align so that the stainless steel sheet is positioned at the center between the two grooves. Attach the stainless steel sheet so that it is not bent.
117
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aintenance and Inspection
4.8 Procedure for Belt Replacement and Tuning Application : RA4R, RA6R, SA7R, SA8R
4.8.1 Inspection of the Belt
For inspection work, detach the pulley cover with hexagonal wrench and carry it out by visual. Remove two hexagonal socket flat-head bolts for SA4R, SA6R, SA7R, and SA8R (where marked with a circle).
SA4R SA6R, SA7R, SA8R
The period of replacement for the belt cannot be clearly defined as the durability of it is impacted so much by the operational conditions. In generally speaking, it possesses bending life of several million times. The timing belt gets worn away as the time passes, and it is necessary to have replacement at regular intervals with the following conditions as reference.
• When the gear and belt area show obvious friction. • When swelling occurs as a result of oil adhesion. • When damages such as a crack occurs on the belt gear and back side.
Also, for the toothed belt, it is recommended to set the interval of regular replacement cycle when in use under high wire fatigue condition in high acceleration and deceleration because it is difficult to judge the right timing for replacement by checking appearance or looseness of the wires strengthening the belt. 4.8.2 Belt to Use
IAI uses the following belt in our plant
Model IAI Maintenance Part Code Manufacturer Model Code
SA4R TB-RCP6-STRA4R 60S2M148 GBRubber, Super torque G Bareback specification (Mitsuboshi Belting Ltd.)
SA6R TB-RCP6-STRA6R 60S2M182 GBRubber, Super torque G Bareback specification (Mitsuboshi Belting Ltd.)
SA7R TB-RCP6-STRA7R 100S3M225 GB
Rubber, Super torque G Bareback specification (Mitsuboshi Belting Ltd.)
SA8R TB-RCP6-SA8R 100S3M243 GB
Rubber, Super torque G Bareback specification (Mitsuboshi Belting Ltd.)
Pulley Cover
118
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aintenance and Inspection
4.8.3 Belt Replacement
[Items required for replacing the motor] • Belt for Replacement • Hexagon Wrench 2.5mm(SA4R), 3mm(SA6R/SA7R/SA8R)
2mm (for hexagonal socket flat-head cap screw) • Phillips screwdriver • Tension Gauge (that is available for pulling with 90N) • Long Tie-Band (thin string)
[Procedure]
1) Remove two hexagonal socket flat-head bolts for SA4R, SA6R, SA7R, and SA8R (where marked with a circle) with a hexagonal wrench. Detach the pulley cover. SA4R SA6R, SA7R, SA8R 2) Remove the four Phillips screws by Phillips screwdriver and remove the motor cover.
Pulley Cover
119
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aintenance and Inspection
3) After tension adjustment of the belt, remove the following bolts and circular washers that are
attached for position repeatability of the motor with 2.5mm-sized hexagonal wrench.
Hexagonal Socket Head Bolt
Circular Washer
The washer is attached in close contact with the motorbracket.
Caution:Please be sure to follow the following precautions when replacing the belt. When the motor cover is removed and the encoder is visible, do not touch the encoder part directly with hands. If touched with hands, the encoder phase may change, resulting in an error.
Encoder
120
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aintenance and Inspection
4) Loosen the bolts (where marked with a circle; two bolts for SA4R and SA6R, four bolts for SA7R, and SA8R) holding the motor with a 2.5mm-sized (SA4R) or 3mm-sized (SA6R/SA7R/SA8R) hexagonal wrench.
Replace the belt if it is necessary.
SA4R SA6R (× 2) (× 2)
SA7R, SA8R
(× 4)
Belt Belt
Belt
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aintenance and Inspection
5) Adjust the belt tension. Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge with the specified load (specified value of the belt tension). When the load reached the specified, tighten the bolts (where marked with a circle) with a 2.5mm-sized (SA4R) or 3mm-sized (SA6R/SA7R/SA8R) hexagonal wrench to hold the unit in the place.
SA4R SA6R (× 2) (× 2)
SA7R, SA8R
(× 4)
Model Tightening Torque SA4R 162N cm SA6R 323N cm SA7R 323N cm SA8R 323N cm
Model Tension Force SA4R 20 to 25N SA6R 25 to 30N SA7R 80 to 90N SA8R 80 to 90N
Tie-Band (thin string)
Belt Belt
Belt
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aintenance and Inspection
6) After tension adjustment of the belt, tighten the following bolts and circular washers attached for position repeatability of the motor in close contact with the motor bracket with 2.5mm-sized hexagonal wrench.
Tightening Torque 88.7N・cm
7) Attach the motor cover with four Phillips screws and tighten them with Phillips screwdriver.
Model Tightening Torque
SA4R, SA6R, SA7R, SA8R 41.4N・cm
Hexagonal Socket Head Bolt
Circular Washer
Attach the washers in close contact with the motor bracket.
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aintenance and Inspection
8) Attach the pulley cover with two hexagonal socket flat-head bolts for SA4R, SA6R, SA7R, and SA8R (where marked with a circle) and tighten with a hexagonal wrench.
SA4R SA6R, SA7R, SA8R
Tightening Torque 47.9N・cm
Pulley Cover
124
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aintenance and Inspection
4.9 Motor Replacement Process 4.9.1 SA4C, SA6C, SA7C, SA8C
[Items required for replacing the motor] • Motor Unit for Replacement
For RCP6 For RCP6S
• Hexagonal wrench set 2mm or 2.5mm-sized
Caution: The encoder part of the motor for replacement and the control board of RCP6S may fail due to static electricity. Please be sure to follow the following precautions during work.
・ Do not touch the encoder part of the motor for replacement directly with hands. If touched with hands, the encoder phase may change, resulting in an error.
・ Do not touch the control board directly with hands except when replacing the control board of RCP6S.
・ Before replacement work, touch metal objects and the like to release any static electricity from body.
・ Do not perform replacement work at the place where static electricity is likely to occur (carpet, etc).
Encoder
125
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aintenance and Inspection
[Procedure] 1) Remove the fixing screw affixing the actuator and the motor unit with a 2mm-sized (SA4C,
SA6C) or 2.5mm-sized (SA7C, SA8C) hexagonal wrench. 2) Detach the motor unit.
3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit.
4) Attach the motor unit for replacement with the projection being matched with the slit.
Make the projection and slit matched with each other.
Apply grease to the coupling part. NOXLUB TL1010 grease made by NOK
For fixed screws actuator and motor unit
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aintenance and Inspection
5) Tighten the fixing screw to affixing the motor unit to the actuator with 2mm-sized (SA4C, SA6C) or 2.5mm-sized (SA7C, SA8C) hexagonal wrench.
Model Tightening Torque SA4C, SA6C 167N・cm SA7C, SA8C 353N・cm
6) Make sure to conduct a home return on a PC or a touch panel teaching after motor replacement.
For fixed screws actuator and motor unit
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aintenance and Inspection
4.9.2 SA4R, SA6R, SA7R, SA8R [Items required for replacing the motor] • Motor unit for replacement • Hexagon wrench set 2.5mm(SA4R), 3mm(SA6R/SA7R/SA8R)
2mm (for hexagonal socket bolt) • Phillips screwdriver • Tension gauge (capable thing of tensioning to 90N or greater) • Strong string or long tie-band
[Procedure]
1) Remove two hexagonal socket flat-head bolts for SA4R, SA6R, SA7R, and SA8R (where marked with a circle) with a hexagonal wrench. Detach the pulley cover. SA4R SA6R, SA7R, SA8R 2) Remove the four Phillips screws by Phillips screwdriver and remove the motor cover.
Pulley Cover
128
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aintenance and Inspection
3) If the belt is to be replaced at the same time, remove the following bolts and circular washers that are mounted for position repeatability of the motor by 2.5mm-sized hexagonal wrench, after tension adjustment of the belt,
4) Loosen the bolts (where marked with a circle; two bolts for SA4R and SA6R, four bolts for
SA7R, and SA8R) holding the motor with a 2.5mm-sized (SA4R) or 3mm-sized (SA6R/SA7R/SA8R) hexagonal wrench.
Replace the belt if it is necessary.
SA4R SA6R (× 2) (× 2)
SA7R, SA8R
(× 4) 5) Detach the belt off the pulleys. 6) Pull out four bolts and remove the motor unit.
Hexagonal Socket Head Bolt
Circular Washer The washer is attached in close contact with the motor bracket.
Belt Belt
Belt
129
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aintenance and Inspection
7) Install the new motor and temporarily tighten the tension adjustment bolts (encircled parts). Hang the timing belt.
SA4R SA6R (× 2) (× 2)
SA7R, SA8R
(× 4)
Belt Belt
Belt
130
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aintenance and Inspection
(Note) If the belt is not replaced at the same time and the following hexagonal socket bolts and circular washers are not removed, there is no need to adjust tension of the belt as prescribed in 8). Hand a cable band (thin string) on the edge of the motor unit and pull it. When it is abutting against the hexagonal socket bolt, tighten the bolt (where marked with a circle) with 2.5mm-sized (SA4R) or 3mm-sized (SA6R/SA7R/SA8R) hexagonal wrench to hold the unit in the place.
The washer is attached in close contact with the motorbracket. Belt
Belt
Belt
131
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aintenance and Inspection
8) If the belt has been replaced at the same time, adjust the tension of the belt. Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge with the specified load (specified value of the belt tension). When the load reached the specified, tighten the bolts (where marked with a circle) with a 2.5mm-sized (SA4R) or 3mm-sized (SA6R/SA7R/SA8R) hexagonal wrench to hold the unit in the place.
Model Tension Force SA4R 20 to 25N SA6R 25 to 30N SA7R 80 to 90N SA8R 80 to 90N
Tie-Band (thin string)
Belt Belt
Belt
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aintenance and Inspection
9) If the belt has been replaced at the same time, tighten the following bolts and circular washers that are mounted for position repeatability of the motor with 2.5-mm sized hexagonal wrench after tension adjustment of the belt.
Tightening Torque 88.7N・cm
10) Attach the motor cover with four Phillips screws and tighten them with Phillips screwdriver.
Model Tightening Torque
SA4R, SA6R, SA7R, SA8R 41.4N・cm
Hexagonal Socket Head Bolt
Circular Washer
Attach the washer in close contact with the motor bracket.
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aintenance and Inspection
11) Attach the pulley cover with two hexagonal socket flat-head bolts for SA4R, SA6R, SA7R, and SA8R (where marked with a circle) and tighten with a hexagonal wrench.
SA4R SA6R, SA7R, SA8R
Tightening Torque 47.9N・cm
12) Make sure to conduct a home return on a PC or a touch panel teaching after motor
replacement.
Pulley Cover
134
5. E
xternal Dim
ensions
5. External Dimensions 5.1 Standard Specification RCP6-SA4C
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 25mm.
4-M3 Depth 7
4-Ø3H7 Reamed Depth 6
20(±0.02 between holes of Ø3H7)
Reference surface
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Upper Surface of Slider
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Home
124(W/o Brake) 155(With Brake)
2-M3 Depth 6 (For ground connection)
CJTTop
CJB Bottom
CJRRight
CJL Left
M3 Depth 5 (For ground connection, the other side the same)
Through E-M4 (Screwing Depth 6)
Cable Exit Direction (Optional)
Oblong Hole Depth 4(From seating surface)
2-Ø3 H7 Depth 4(From seating surface)
Maintain it more than 100
J(Ø3 hole - oblong hole)
K(Ø3 hole - Ø3 hole)
Slider Installed LoadBe cautious for interference.
Range of 49 or moreBe cautious for interference.
H-Ø3.4, Depth Ø6.5, Counter Boring Depth 3.5 (From back side)
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
4-M3 Depth 7
4-Ø3H7 Reamed Depth 6
20(±0.02 between holes of Ø3H7)
Reference surface
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Upper Surface of Slider
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Home
167(W/o Brake) 193(With Brake)
2-M3 Depth 6 (For ground connection)
CJTTop
CJBBottom
CJRRight
CJL Left
Through E-M4 (Screwing Depth 6)
Cable Exit Direction (Optional)
Oblong Hole Depth 4 (From seating surface)
2-Ø3 H7 Depth 4 (From seating surface)
Maintain it more than 100
J(Ø3 hole - oblong hole)
K(Ø3 hole - Ø3 hole)
Slider Installed Load Be cautious for interference.
Range of 49 or more Be cautious for interference.
H-Ø3.4, Depth Ø6.5, Counter Boring Depth 3.5 (From back side)
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 25mm.
4-M5 Depth 10
4-Ø5H7 Reamed Depth 6
31(±0.02 between holes of Ø5H7)
Reference surface
Allowable Moment Reference position for Offset Reference surface
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
4-M5 Depth 10
4-Ø5H7 Reamed Depth 6
31(±0.02 between holes of Ø5H7)
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Upper Surface of Slider
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Home
2-M3 Depth 6 (For ground connection)
CJTTop
CJRRight
CJL Left
Through E-M5 (Screwing Depth 10)
N-Oblong Hole Depth 5.5 (From seating surface)
M-Ø4 H7 Depth 5.5 (From seating surface)
Maintain it more than 100
J (Ø4 hole - oblong hole)
K(Ø4 hole – Ø4 hole)
Status LED
H-Ø4.5, Depth Ø8, Counter Boring Depth 4.5 (From back side)
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 25mm.
4-M5 Depth 10
4-Ø5H7 Reamed Depth 10 39(±0.02 between holes of Ø5H7)
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Home
CJTTop
CJRRight
CJL Left
Through E-M5 (Screwing Depth 10) N-Oblong Hole Depth 6
(From seating surface)
M-Ø4 H7 Depth 6(From seating surface)
J (Ø4 hole - oblong hole) K(Ø4 hole - Ø4 hole)
H-Ø6, Depth Ø9.5, Counter Boring Depth 5.5 (From back side)
4-M5 Depth 10
4-Ø5H7 Reamed Depth 10 39(±0.02 between holes of Ø5H7)
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Upper Surface of Slider
165(W/o Brake) 215(With Brake)
Maintain it more than 100
Slider Installed Load Be cautious for interference.
Range of 87.5 or more Be cautious for interference.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 25mm.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
63(±0.02 between holes of Ø6H7)
2-Ø 6H7 Reamed Depth 10
Through 4-M8 (Screwing Depth 12)
Reference surface (Range of Dimension B)
Allowable Moment Reference position for Offset
Upper Surface of Slider
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
N-Oblong Hole Depth 6.5 (From seating surface)
M-Ø6, H7 Depth 6.5 (From seating surface)
Through E-M6 (Screwing Depth 12)
Home
146(W/o Brake) 196(With Brake)
Status LED
2-M3 Depth 6 (For ground connection)
2-M3 Depth 6 (For ground connection)
CJL Left
CJB Bottom
CJRRight
CJTTop
Disabled when CJR is selected
Cable Exit Direction (Optional)
Disabled when CJR is selected
Power · I/O Cable Connector
Teaching Port
J(Ø6 hole - oblong hole)
K(Ø6 hole - Ø6 hole)
Detailed View P Scale 2 : 1
Details of Base Attachment Holes Scale 2 : 1
Maintain it more than 100
142
5. E
xternal Dim
ensions
5.9 Standard Specification RCP6-SA4R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath.
Maintain it more than 100 207.3 (The same applies to the one with brake)
Reference surface
4-M4 Depth 8
Cable Exit Direction (Optional)
CJO Outward
H-Ø3.4, Depth Ø6.5, Counter Boring Depth 3.5 (From back side) Through E-M4
(Screwing Depth 6)
Oblong Hole Depth 4(From seating surface)
2-Ø3 H7 Depth 4 (From seating surface)
J(Ø3 hole - oblong hole)
K(Ø3 hole - Ø3 hole) 50 (25 at the time of 50st)
D×100P (50 at the time of 50st)
Home
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Upper Surface of Slider
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Detailed View PScale 2 : 1
Details of Base Attachment Holes Scale 2 : 1
Power · I/O Cable Connector
144
5. E
xternal Dim
ensions
5.11 Standard Specification RCP6-SA6R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath.
5.13 Standard Specification RCP6-SA7R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath.
51 (at the time of ML side-mounted direction) 20 (at the time of MR side-mounted direction)
Teaching Port
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Upper Surface of Slider
Allowable Moment Reference position for Offset
Reference surface (Range of Dimension B)
Power · I/O Cable Connector
Surface Side of Motor
4-Ø5H7 Reamed Depth 10
4-M5 Depth 10
Maintain it more than 100 286.9 (The same applies to the one with brake)
Home
Through E-M5 (Screwing Depth 10)
H-Ø6, Depth Ø9.5, Counter Boring Depth 5.5 (From back side)
N-Oblong Hole Depth 6(From seating surface)
M-Ø4 H7 Depth 6 (From seating surface)
J (Ø4 hole - oblong hole)K(Ø4 hole - Ø4 hole)
39(±0.02 between holes of Ø5H7)
Slider Installed Load Be cautious for interference.
Range of 88 or more Be cautious for interference.
Reference surface
4-M8 Depth 16
CJO Outward
Cable Exit Direction (Optional)
Detailed View PScale 2 : 1
Details of Base Attachment Holes Scale 2 : 1
148
5. E
xternal Dim
ensions
Slider Spacer for SA7R (Optional Model: SS)
85
105
60
67.5
77.5
10
69.5 8
Through 4-M5 (Bolt Screwing Depth 9mm)
+0.0122-Ø5 H7 0 Depth 8
39(Ø5H±0.05)
149
5. E
xternal Dim
ensions
5.15 Standard Specification RCP6-SA8R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath.
52.5 (at the time of ML side-mounted direction)21.5 (at the time of MR side-mounted direction)
Teaching Port
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Upper Surface of Slider
Allowable Moment Reference position for Offset
Power · I/O Cable Connector
Surface Side of Motor
63(±0.02 between holes of Ø6H7)
2-Ø6H7 Reamed Depth 10
Maintain it more than 100 286.9 (The same applies to the one with brake)
Home
Through E-M6 (Screwing Depth 12)
M-Ø6H7 Depth 6.5(From seating surface)
N-Oblong Hole Depth 6.5(From seating surface)
Slider Installed Load Be cautious for interference.
Be cautious for interference in the range of 93 or more.
Reference surface (Range of Dimension B)
4-M8 Depth 16
CJO Outward
Through 4-M5 (Screwing Depth 12)
J(Ø6 hole - oblong hole) K(Ø6 hole – Ø6 hole)
Cable Exit Direction (Optional)
Detailed View PScale 2 : 1
Details of Base Attachment Holes Scale 2 : 1
151
5. E
xternal Dim
ensions
Slider Spacer for SA8R (Optional Model: SS)
130
6385 42.567.5 14
81.5
71 10.5
Through 4-M8 (Bolt Screwing Depth 13mm)
2-Ø6 H7 Depth 5
100(±0.02 between Ø6H7)
152
5. E
xternal Dim
ensions
5.17 Cleanroom Type Standard Specification RCP6CR-SA4C Standard Specification RCP6-SA4C/SA4R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit
direction types (option), the dimensions are longer in 25mm.
Reference Surface
Detailed View P Scale 2 : 1
Details of Base Attachment Holes
Scale 2 : 1 Allowable Moment Reference position for Offset
Reference Surface
D×100P (50 at the time of 50st) ST: Stroke M.E.: Mechanical End S.E.: Stroke End
K(Ø3 hole - Ø3 hole)
J(Ø3 Hole - oblong hole) 50 (25 at the time of 50st)
2-Ø3 H7 Depth 4 (From seating surface)
Oblong Hole Depth 4(From seating surface)
Through E-M4 (Screwing Depth 6)
H-Ø3.4, Depth Ø6.5, Counter Boring Depth 3.5 (From back side)
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
124(W/o Brake) 155(With Brake)
Be cautious for interferencein the range of 49 or more.
Slider Installed LoadBe cautious for interference. Maintain it more
than 100
2-M3 Depth 6 (For ground connection)
M3 Depth 5 (For ground connection, the other side the same) CJB
Bottom
CJR Right
CJL Left
CJT Top
4-Ø3H7 Reamed Depth 6
4-M3 Depth 720(±0.02 between holes of Ø3H7)
Home
48
Upp
er S
urfa
ceof
Slid
er
Cable Exit Direction (Optional)
153
5. E
xternal Dim
ensions
5.18 Cleanroom Type Built-in Controller Specification RCP6SCR-SA4C Built-in Controller Specification RCP6S-SA4C/SA4R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
Detailed View P Scale 2 : 1
Details of Base Attachment Holes
Scale 2 : 1 Allowable Moment Reference position for Offset
Reference Surface
4-Ø3H7 Reamed Depth 6
4-M3 Depth 7
20(±0.02 between holes of Ø3H7)
Maintain it more than 100
Slider Installed Load Be cautious for interference.
Teaching Port
Status LED 167(W/o Brake) 193(With Brake)
Be cautious for interference in the range of 49 or more.
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
D×100P (50 at the time ST: Stroke M.E.: Mechanical End S.E.: Stroke End
K(Ø3 hole - Ø3 hole)
J(Ø3 Hole - oblong 50 (25 at the time of 50st)
2-Ø3 H7 Depth 4 (From seating surface)
Oblong Hole Depth 4 (From seating surface)
Through E-M4 (Screwing Depth 6)
H-Ø3.4, Depth Ø6.5, Counter Boring Depth 3.5 (From back side)
2-M3 Depth 6(For ground connection)
Cable Exit Direction (Optional)
CJB Botto
CJR Right
CJL Left
CJT Top
2-M3 Depth 6(For ground connection)
Power · I/O Cable Connector
Reference Surface
48
Upp
er S
urfa
ceof
Slid
er
154
5. E
xternal Dim
ensions
5.19 Cleanroom Type Standard Specification RCP6CR-SA6C Standard Specification RCP6-SA6C/SA6R (Option Model SR) Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit
direction types (option), the dimensions are longer in 25mm.
Reference Surface
Detailed View P Scale 2 : 1
Details of Base Attachment Holes Scale 2 : 1
Allowable Moment Reference position for Offset
Reference Surface (Range of Dimension B)
4-Ø5H7 Reamed Depth 6
4-M5 Depth 1031(±0.02 between holes of Ø5H7)
Maintain it more than 100
112.5(W/o Brake) 152(With Brake)
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
M-Ø4 H7 Depth 5.5 (From seating surface)
N-Oblong Hole Depth 5.5 (From seating surface)
Through E-M5 (Screwing Depth 10)
H-Ø4.5, Depth Ø8, Counter Boring Depth 4.5 (From back side)
K(Ø4 hole – Ø4 hole)J(Ø4 hole - oblong
2-M3 Depth 6(For ground connection)
Cable Exit Direction (Optional) CJB
Bottom
CJR Right
CJL Left
CJT Top
Disabled when CJR is selected.
Disabled when CJL is selected.
2-M3 Depth 6(For ground connection)
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
62.5
U
pper
Sur
face
of S
lider
155
5. E
xternal Dim
ensions
5.20 Cleanroom Type Built-in Controller RCP6SCR-SA6C Built-in Controller Specification RCP6S-SA6C/SA6R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit
direction types (option), the dimensions are longer in 20mm.
Reference Surface
Detailed View P Scale 2 : 1
Details of Base Attachment Holes
Scale 2 : 1
Allowable Moment Reference position for Offset
Reference Surface
4-Ø5H7 Reamed Depth 6
4-M5 Depth 10
31(±0.02 between holes of Ø5H7)
Maintain it more than 100
Status LED
150.5(W/o Brake) 190(With Brake)
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
2-M3 Depth 6 (For ground connection)
Power · I/O Cable Connector
Teaching Port
2-M3 Depth 6(For ground connection)
CJR Right
CJT Top
Disabled when CJR is selected.
Disabled when CJL is selected.
Actuator Center
M-Ø4 H7 Depth 5.5 (From seating surface)
N-Oblong Hole Depth 5.5 (From seating surface)
Through E-M5 (Screwing Depth 10)
H-Ø4.5, Depth Ø8, Counter Boring Depth 4.5 (From back side)
K(Ø4 hole – Ø4 hole)J(Ø4 hole - oblong
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Cable Exit Direction (Optional)
62.5
U
pper
Sur
face
of S
lider
CJB Bottom
CJL Left
156
5. E
xternal Dim
ensions
5.21 Cleanroom Standard Specification RCP6CR-SA7C Standard Specification RCP6-SA7C/SA7R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
5.22 Cleanroom Type Built-in Controller Specification RCP6SCR-SA7C Built-in Controller Specification RCP6S-SA7C/SA7R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit
direction types (option), the dimensions are longer in 20mm.
Reference Surface Detailed View P
Scale 1 : 1
Details of Base Attachment Holes
Scale 1 : 1
Allowable Moment Reference position for Offset
Reference Surface
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
Maintain it more than 100
Slider Installed LoadBe cautious for interference. Status LED
165(W/o Brake) 215(With Brake)
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø8
Be cautious for interference in the range of 87.5 or more.
2-M3 Depth 6(For ground connection) Power · I/O Cable
Connector
Teaching Port
2-M3 Depth 6(For ground connection)
CJB Bottom
CJR Right
CJL Left
CJT Top
Disabled when CJR is selected.
Disabled when CJL is selected.
Cable Exit Direction (Optional)
M-Ø4 H7 Depth 6 (From seating surface)
N-Oblong Hole Depth 6 (From seating surface)
Through E-M5 (Screwing Depth 10)
H-Ø6, Depth Ø9.5, Counter Boring Depth 5.5
K(Ø4 hole – Ø4 hole)
J(Ø4 hole - oblong hole)
4-Ø5H7 Reamed Depth 10
4-M5 Depth 10
67.5
U
pper
Sur
face
of S
lider
39(±0.02 between holes of Ø5H7)
158
5. E
xternal Dim
ensions
5.23 Cleanroom Type Standard Specification RCP6CR-SA8C Standard Specification RCP6-SA8C/SA8R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 25mm.
67.5
U
pper
Sur
face
of S
lider
Reference Surface
Detailed View Q Scale 2 : 1
Detailed View P Scale 1 : 1
Allowable Moment Reference position for Offset
Reference Surface
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
2-Ø6H7 Reamed Depth 10 Through 4-M8
(Screwing Depth 12)63(±0.02 between holes of Ø6H7) Maintain it more
than 100
2-M3 Depth 6(For ground connection)
2-M3 Depth 6(For ground connection)
CJB Botto
CJR Right
CJL Left
CJT Top
Disabled when CJR is selected.
Disabled when CJL is selected.
Cable Exit Direction (Optional)
146(W/o Brake) 196(With Brake)
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø8
N-Oblong Hole Depth 6.5(From seating surface)
Through E-M6 (Screwing Depth 12)
M- Ø6, H7 Depth 6.5 (From seating surface)
K(Ø6 hole – Ø6 hole) J(Ø6 hole - oblong hole)
159
5. E
xternal Dim
ensions
5.24 Cleanroom Type Built-in Controller Specification RCP6SCR-SA8C Built-in Controller Specification RCP6S-SA8C/SA8R (Option Model SR) *Tube joints are not available in the slider roller (SR) specification.
(Note) L dimensions described in the table are those with no cable exit direction (option). For cable exit direction types (option), the dimensions are longer in 20mm.
67.5
U
pper
Sur
face
of S
lider
Detailed View Q Scale 2 : 1
Detailed View P Scale
Scale 1 : 1
Allowable Moment Reference position for Offset
Reference Surface
ST: Stroke M.E.: Mechanical End S.E.: Stroke End
2-Ø6H7 Reamed Depth 10 Through 4-M8
(Screwing Depth 12)63(±0.02 between
holes of Ø6H7) Maintain it more
than 100
Status LED
184(W/o Brake) 234(With Brake)
Home
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø8
2-M3 Depth 6(For ground connection)
Power · I/O Cable Connector
Teaching Port
2-M3 Depth 6(For ground connection)
CJB Botto
CJR Right
CJL Left
CJT Top
Disabled when CJR is selected.Disabled
when CJL is selected.
Cable Exit Direction (Optional)
N-Oblong Hole Depth 6.5 (From seating surface)
Through E-M6 (Screwing Depth 12)
M- Ø6, H7 Depth 6.5 (From seating surface)
K(Ø6 hole - Ø6 hole)J(Ø6 hole - oblong hole)
160
5. E
xternal Dim
ensions
5.25 Standard Specification Double Slider Specification RCP6-SA4C (Option Model W) * The dimensions of the double slider are the same as the side-mounted motor type
RCP6-SA4R and the built-in controller specification RCP6S-SA4C and RCP6S-SA4R.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
2x4-M3 Depth 7
20(±0.02 between holes of Ø3H7)
Slider Installed Load
Be cautious for interferencein the range of 49 or more.
Home
Effective ST
2x4-Ø3H7 Reamed Depth 6
161
5. E
xternal Dim
ensions
5.26 Standard Specification Double Slider Specification RCP6-SA6C (Option Model W) * The dimensions of the double slider are the same as the side-mounted motor type
RCP6-SA6R and the built-in controller specification RCP6S-SA6C and RCP6S-SA6R.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
Home
Effective ST
2x4-Ø5H7 Reamed Depth 6
2x4-M5 Depth 10
31(±0.02 between holes of Ø5H7)
162
5. E
xternal Dim
ensions
5.27 Standard Specification Double Slider Specification RCP6-SA7C (Option Model W) * The dimensions of the double slider are the same as the side-mounted motor type
RCP6-SA7R and the built-in controller specification RCP6S-SA7C and RCP6S-SA7R.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
2x4-Ø5H7 Reamed Depth 10
2x4-M5 Depth 10
39(±0.02 between holes of Ø5H7)
Slider Installed LoadBe cautious for interference.
Be cautious for interference in the range of 87.5 or more.
Home
Effective ST
163
5. E
xternal Dim
ensions
5.28 Standard Specification Double Slider Specification RCP6-SA8C (Option Model W) * The dimensions of the double slider are the same as the side-mounted motor type
RCP6-SA8R and the built-in controller specification RCP6S-SA8C and RCP6S-SA8R.
5.29 Cleanroom Type Standard Specification Double Slider SpecificationRCP6CR-SA4C (Option Model W) * The dimensions of the double slider are the same as the built-in controller
RCP6SCR-SA4C. As is the case with the standard specification RCP6-SA4C/SA4R and with the built-in controller RCP6S-SA4C/SA4R slider roller (SR) specification, tube joints are not available.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
2x4-Ø3H7 Reamed Depth 6
2x4-M3 Depth 7
20(±0.02 between holes of Ø3H7)
Slider Installed Load Be cautious for interference.
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
Be cautious for interferencein the range of 49 or more.
Home
Effective ST
165
5. E
xternal Dim
ensions
5.30 Cleanroom Type Standard Specification Double Slider Specification RCP6CR-SA6C (Option Model W) * The dimensions of the double slider are the same as the built-in controller
RCP6SCR-SA6C. As is the case with the standard specification RCP6-SA6C/SA6R and with the built-in controller RCP6S-SA6C/SA6R slider roller (SR) specification, tube joints are not available.
Effective ST: Effective StrokeM.E.: Mechanical End S.E.: Stroke End
Allowable Moment Reference position for Offset
2x4-M5 Depth 10
31(±0.02 between holes of Ø5H7)
Home
Effective ST
2x4-Ø5H7 Reamed Depth 6
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø6
166
5. E
xternal Dim
ensions
5.31 Cleanroom Type Standard Specification Double Slider Specification RCP6CR-SA7C (Option Model W) * The dimensions of the double slider are the same as the built-in controller
RCP6SCR-SA7C. As is the case with the standard specification RCP6-SA7C/SA7R and with the built-in controller RCP6S-SA7C/SA7R slider roller (SR) specification, tube joints are not available.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
Allowable Moment Reference position for Offset
Reference Surface
2x4-M5 Depth 7
39(±0.02 between holes of Ø5H7)
Slider Installed Load Be cautious for interference.
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø8
Be cautious for interferencein the range of 87.5 or more.
Home Effective ST
2x4-Ø5H7 Reamed Depth 10
167
5. E
xternal Dim
ensions
5.32 Cleanroom Type Standard Specification Double Slider Specification RCP6CR-SA8C (Option Model W) * The dimensions of the double slider are the same as the built-in controller
RCP6SCR-SA8C. As is the case with the standard specification RCP6-SA8C/SA8R and with the built-in controller RCP6S-SA8C/SA8R slider roller (SR) specification, tube joints are not available.
Effective ST: Effective Stroke M.E.: Mechanical End S.E.: Stroke End
Allowable Moment Reference position for Offset
Reference Surface
Rotation Area of Joint
Outer Diameter of Applied Tube:Ø8
Home
Effective ST
Through 2x4-M8(Screwing Depth 12)
2x2-Ø6H7 Reamed Depth 10
63(±0.02 between holes of Ø6H7)
168
6. Life
6. Life The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load. Operation life of the linear guide is to be determined by the total driving distance which can reach without having 90% flaking (peeling on rail surface). Operation life can be figured out with the calculation method shown below. 6.1 How to Calculate Operation Life For the operation life of the linear guide, use the dynamic allowable moment stated in 1.2 Specifications, and figure out with the formula below.
L = ・5000km
L : Operation life (km) CM : Allowable dynamic moment (N・m) M : Moment to work (N・m) 5000km : Standard rated life of ROBO Cylinder
In addition, have a calculation for the drop of life with the formula below if there is a concern that the life could drop due to the condition of vibration or way to be attached. L = ・ ・ ・5000km
L : Operation life (km) CM : Allowable dynamic moment (N・m) M : Moment to work (N・m) fws : Standard operational coefficient fw : Load coefficient fα : Attachment coefficient 5000km : Standard rated life of ROBO Cylinder
Explained below is regarding the standard operational coefficient fws, load coefficient fw and attachment coefficient fα. Refer to the contents below to set them up. [Standard operational coefficient fws]
For ROBO Cylinders described in this manual, fws = 1.2. It is a coefficient defined for each model, some models such as RCS3 high-speed type is 1.35.
CM
M
3
CM
M
3
fw
fws 1
fα
169
6. Life
[Load coefficient fw] It is a coefficient to consider the life drop due to operational conditions.
Load coefficient fw Operation Condition Reference for acceleration/deceleration
1.0 to 1.5 Small vibration or impact in slow operation 1.0G or less
[Attachment coefficient fα]
Attachment coefficient fα is a coefficient to consider the life drop due to the condition of actuator attachment.
Attachment coefficient fα 1.0 1.2 1.5
Attachment in whole area
Attachment on both ends Attachment on spots
Attached condition
* As the figures are those in common for each manual, they are not for RCP6 Slider Type. Replace to figures for RCP6 Slider Type and select the attachment coefficient.
* Even when in attachment in whole area, and the actuator is seated in the whole length of the product, select 1.2 or 1.5 for the attachment coefficient depending on the position of screw fixing.
* For attachment in whole area, use all of the tapped holes (counterbored holes) on the seat surface to fix.
6.2 Operation Life The operation life depends on the moment to work. With light load, it will be longer than 5,000km, the standard rated life. With no consideration of vibration and attachment condition, the operation life is 40,000km according to the calculation with formula in the previous page under assumption that 0.5 CM (half of dynamic allowable moment) of moment is applied on. It shows that it can be 8 times longer than the standard rated life, which is 5,000km.
170
7. W
arranty
7. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment from IAI • 12 months after delivery to the specified location • 2,500 hours of operation 7.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our
authorized dealer. (2) The breakdown or problem in question occurred during the warranty period. (3) The breakdown or problem in question occurred while the product was in use for an
appropriate purpose under the conditions and environment of use specified in the instruction manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or by a quality issue with our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product [2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair) [3] Anything that could not be easily predicted with the level of science and technology
available at the time of shipment from our company [4] A natural disaster, man-made disaster, incident or accident for which we are not liable [5] Natural fading of paint or other symptoms of aging [6] Wear, depletion or other expected result of use [7] Operation noise, vibration or other subjective sensation not affecting function or
maintenance Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of our product is excluded from the scope of warranty. 7.3 Honoring the Warranty As a rule, the product must be brought to us for repair under warranty.
171
7. W
arranty
7.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such
as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate
our product or for the result of such program or control method. 7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications (1) If our product is combined with another product or any system, device, etc., used by the
customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable for the conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us if you must use our product for any of these applications:
1) Medical equipment used to maintain, control or otherwise affect human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.) 4) Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs from what is specified in the catalog or instruction manual.
7.6 Other Items Excluded from Warranty The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation [2] Maintenance and inspection [3] Technical guidance and education on operating/wiring methods, etc. [4] Technical guidance and education on programming and other items related to programs
172
Change H
istory
Change History
Revision Date Description of Revision
January 2016 April 2016 May 2016 Jun 2016 Aug 2016 Oct 2016 Oct 2016
First edition Edition 1B Pg. 20 Corrected "Number of Encoder Pulse" to "800" Pg. 23, 32 Partially corrected the payload by
acceleration/deceleration Pg. 46 Changed the description for slider spacer Pg. 56 Added SA8 with strokes 50 and 100 as models
without oblong holes Pg. 59 Corrected A and B dimensions of 5A8R Pg. 83 Changed belt manufacturer for SA4R, SA7R and
- oblong hole)” Edition 1C Pg. 86 Added precautions about static electricity during
motor replacement Second edition Added contents for cleanroom type Added contents for double slider specification (option) Added specifications about when high-output setting is ineffective Pg. 76 Changed graphs about duty ratio Changed the tolerances of the oblong holes for RCP6(S)(CR)-SA6C/R, SA7C/R, SA8C/R in 5 “External Dimensions” from +0.010 to +0.012.
Edition 2B Pg. 109 Grease gun changed
Amount of grease supply (reference) of SA7 changed
Amount of grease supply (reference) of SA8 added Edition 2D Added a caution of the length of the body mounting bolts Pg. 120, 121, 128, 129, 130, 131
Added drawings of SA7R and SA8R Edition 2E CAUTION changed FASTENER to SCREW.
173
Change H
istory
Revision Date Description of Revision
Nov 2016 Jan 2017 Jan 2017 Mar 2017 May 2017 June 2017 August 2017
Edition 2G Added two reamed holes for SA4,SA6 and SA7 Pg. 112 Revised the description to "replace SA7 and SA8
with (1) procedure 1, and replace SA4 and SA6 with (1) procedure 1 or (2) procedure 2".